Systems and apparatuses for soil and seed monitoring

ABSTRACT

A soil apparatus (e.g., seed firmer) having a locking system is described herein. In one embodiment, the soil apparatus includes a lower base portion for engaging in soil of an agricultural field, an upper base portion, and a neck portion having protrusions to insert into the lower base portion of a base and then lock when a region of the upper base portion is inserted into the lower base portion and this region of the upper base portion presses the protrusions to lock the neck portion to the upper base portion.

RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.16/651,324, filed 26 Mar. 2020, which is a national stage entry of PCTApplication No. PCT/US2018/053832, filed 2 Oct. 2018, which claims thebenefit of U.S. Provisional Application No. 62/567,135, filed on Oct. 2,2017 entitled: SYSTEMS AND APPARATUSES FOR SOIL AND SEED MONITORING;U.S. Provisional Application No. 62/625,855, filed on Feb. 2, 2018entitled: SYSTEMS AND APPARATUSES FOR SOIL AND SEED MONITORING; U.S.Provisional Application No. 62/661,783, filed on Apr. 24, 2018 entitled:SYSTEMS AND APPARATUSES FOR SOIL AND SEED MONITORING, the entirecontents of which are hereby incorporated by reference.

TECHNICAL FIELD

Embodiments of the present disclosure relate to systems and apparatusesfor agricultural soil and seed monitoring.

BACKGROUND

In recent years, the availability of advanced location-specificagricultural application and measurement systems (used in so-called“precision farming” practices) has increased grower interest indetermining spatial variations in soil properties and in varying inputapplication variables (e.g., planting depth) in light of suchvariations. However, the available mechanisms for measuring propertiessuch as temperature are either not effectively locally made throughoutthe field or are not made at the same time as an input (e.g. planting)operation.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of example, and not by wayof limitation, in the figures of the accompanying drawings and in which:

FIG. 1 is a top view of an embodiment of an agricultural planter.

FIG. 2 is a side elevation view of an embodiment of a planter row unit.

FIG. 3 schematically illustrates an embodiment of a soil monitoringsystem.

FIG. 4A is a side elevation view of an embodiment of a seed firmerhaving a plurality of firmer-mounted sensors.

FIG. 4B is a plan view of the seed firmer of FIG. 4A.

FIG. 4C is a rear elevation view of the seed firmer of FIG. 4A.

FIG. 5 is a side elevation view of another embodiment of a seed firmerhaving a plurality of firmer-mounted sensors.

FIG. 6 is a sectional view along section D-D of FIG. 5 .

FIG. 7 is a sectional view along section E-E of FIG. 5 .

FIG. 8 is a sectional view along section F-F of FIG. 5 .

FIG. 9 is a sectional view along section G-G of FIG. 5 .

FIG. 10 is a partially cutaway partial side view of the seed firmer ofFIG. 5 .

FIG. 11 is a view along direction A of FIG. 10 .

FIG. 12 is a view along section B-B of FIG. 10 .

FIG. 13 is a view along section C-C of FIG. 10 .

FIG. 14 is an enlarged partial cutaway view of the seed firmer of FIG. 5.

FIG. 15 is a rear view of another embodiment of a seed firmer.

FIG. 16 is a rear view of still another embodiment of a seed firmer.

FIG. 17 is a plot of a reflectivity sensor signal.

FIG. 18 is a side elevation view of an embodiment of a reference sensor.

FIG. 19A is a side elevation view of an embodiment of an instrumentedseed firmer incorporating fiber-optic cable transmitting light to areflectivity sensor.

FIG. 19B is a side elevation view of an embodiment of an instrumentedseed firmer incorporating fiber-optic cable transmitting light to aspectrometer.

FIG. 20 illustrates an embodiment of a soil data display screen.

FIG. 21 illustrates an embodiment of a spatial map screen.

FIG. 22 illustrates an embodiment of a seed planting data displayscreen.

FIG. 23 is a side elevation view of another embodiment of a referencesensor having an instrumented shank.

FIG. 24 is a front elevation view of the reference sensor of FIG. 23 .

FIG. 25 is a side elevation view of another embodiment of a seed firmer.

FIG. 26 is a side cross-sectional view of the seed firmer of FIG. 25 .

FIG. 27A is a perspective view of a seed firmer according to oneembodiment.

FIG. 27B is a side view of the seed firmer of FIG. 27A.

FIG. 28A is a side view of a lens according to one embodiment.

FIG. 28B is a front view of the lens of FIG. 28A.

FIG. 29A is a perspective view of a firmer base according to oneembodiment.

FIG. 29B is a side perspective view of the firmer base of FIG. 29A.

FIG. 29C is a bottom view of the firmer base of FIG. 29A.

FIG. 30A is a perspective view of a sensor housing according to oneembodiment.

FIG. 30B is a perspective view of a cover according to one embodiment.

FIG. 31A is a perspective view of a lens body according to oneembodiment.

FIG. 31B is a side view of the lens body of FIG. 31A.

FIG. 32 is a side view of a sensor with an emitter and a detectoraccording to one embodiment.

FIG. 33 is a side view of a sensor with an emitter and a detector thatare angled towards each other according to one embodiment.

FIG. 34 is a side view of a sensor and prism combination according toone embodiment.

FIG. 35 is a side view of a sensor with two emitters and a detectoraccording to one embodiment.

FIG. 36 is a side view of a sensor with two emitters angled toward adetector according to one embodiment.

FIG. 37 is a side view of a sensor with two emitters and a detector anda prism according to one embodiment.

FIG. 38 is a side view of a sensor with an emitter and a detector alongwith a prism that uses the critical angle of the material of the prismaccording to one embodiment.

FIG. 39 is a side view of a sensor with one emitter and two detectorsaccording to one embodiment.

FIG. 40 is a side sectional view of an orifice plate used with theembodiment of FIG. 37 .

FIG. 41 is a side sectional view of a sensor with one emitter and onedetector along with a prism that uses the critical angle of the materialof the prism according to one embodiment.

FIG. 42A is an isometric view of a prism according to one embodiment.

FIG. 42B is a top plan view of the prism of FIG. 42A.

FIG. 42C is a bottom elevation view of the prism of FIG. 42A.

FIG. 42D is a front elevation view of the prism of FIG. 42A.

FIG. 42E is a rear elevation view of the prism of FIG. 42A.

FIG. 42F is a right elevation view of the prism of FIG. 42A.

FIG. 42G is a left elevation view of the prism of FIG. 42A.

FIG. 43 is a sectional view of seed firmer of FIG. 27A at section A-A.

FIG. 44A is a front schematic view of a sensor with two emitters and onedetector in line and an offset detector according to one embodiment.

FIG. 44B is a side schematic view of the sensor of FIG. 44A.

FIG. 45 illustrates an embodiment of a seed germination moisture screen.

FIG. 46 is a side view of a seed firmer and sensor arm according to oneembodiment.

FIG. 47 illustrates a representative reflectance measurement and heightoff target.

FIG. 48 illustrates an embodiment of a void screen.

FIG. 49 illustrates a flow diagram of one embodiment for a method 4900of obtaining soil measurements and then generating a signal to actuateany implement on any agricultural implement.

FIG. 50 illustrates an embodiment of a uniformity of moisture screen.

FIG. 51 illustrates an embodiment of a moisture variability screen.

FIG. 52 illustrates an embodiment of an emergence environment score.

FIG. 53 is a perspective view of a temperature sensor disposed on aninterior wall according to one embodiment.

FIG. 54 is a side view of a temperature sensor disposed through a seedfirmer to measure temperature of soil directly according to oneembodiment.

FIGS. 55-56 illustrate a soil apparatus (e.g., firmer) having a lockingsystem in accordance with one embodiment.

FIG. 57 illustrates a neck portion of a soil apparatus havingprotrusions (e.g., two prongs 5821-5822) to insert into a lower portionof a base in accordance with one embodiment.

FIG. 58 illustrates a ground-engaging lower portion of a base of a soilapparatus in accordance with one embodiment.

FIGS. 59-60 illustrate an upper portion of a base of a soil apparatus inaccordance with one embodiment.

FIG. 61 illustrates a ground-engaging lower portion of a base of a soilapparatus in accordance with one embodiment.

FIGS. 62 and 63 illustrate a connector 6300 having a nipple 6310 toinsert into the fluid tube in accordance with one embodiment.

FIG. 64 illustrates a side view of a layer 6510 of resilient material(e.g., foam) to push a circuit board 6520 (e.g., printed circuit board,sensor circuit board) into a transparent window 5592 of a base 5502 orin close proximity to the window in accordance with one embodiment.

FIG. 65 illustrates a top view of a circuit board in accordance with oneembodiment.

FIG. 66 illustrates a base having a separate window portion inaccordance with one embodiment.

FIG. 67 illustrates a soil temperature and air temperature graph with atemperature offset.

FIG. 68 illustrates a correction factor curve for reflectance based onheight off target.

FIG. 69 illustrates an embodiment of a seed germination map.

FIG. 70A illustrates a side view of a neck portion having a hole.

FIG. 70B illustrates a side view of a neck portion having a force relief

FIG. 70C illustrates a side view of a section of FIG. 70B with a firstforce relief

FIG. 70D illustrates a side view of a section of FIG. 70B with a secondforce relief.

FIG. 71 illustrates an embodiment of a seed environment score screen.

FIG. 72 illustrates an embodiment of a seed environment score propertiesscreen.

FIG. 73 illustrates a soil apparatus (e.g., firmer) having a low stickportion.

FIG. 74A illustrates a side elevation view of the low stick portion ofthe soil apparatus of FIG. 73 .

FIG. 74B is a top perspective view of the low stick portion of FIG. 74A.

FIG. 74C is a bottom perspective view of the low stick portion of FIG.74A.

FIG. 74D is a perspective view of the low stick portion of FIG. 74A.

FIG. 75 is a perspective view of a lower portion of the soil apparatusof FIG. 73 .

FIG. 76A is a top perspective view of an upper base portion of the soilapparatus of FIG. 73 .

FIG. 76B is a bottom perspective view of an upper base portion of thesoil apparatus of FIG. 73 .

FIG. 77A is a perspective view of a lower base portion of the soilapparatus of FIG. 73 .

FIG. 77B is a perspective view of the lower base portion of the soilapparatus of FIG. 77A.

FIG. 77C is a left side elevation view of the lower base portion of thesoil apparatus of FIG. 77A.

FIG. 78 is a perspective view of the circuit board of FIG. 73 .

FIG. 79 shows an example of a system 1200 that includes a machine 1202(e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g.,planter, sidedress bar, cultivator, plough, sprayer, spreader,irrigation implement, etc.) in accordance with one embodiment.

BRIEF SUMMARY

A soil apparatus (e.g., seed firmer) having a locking system isdescribed herein. In one embodiment, the soil apparatus includes a lowerbase portion for engaging in soil of an agricultural field, an upperbase portion, and a neck portion having protrusions to insert into thelower base portion of a base and then lock when a region of the upperbase portion is inserted into the lower base portion and this region ofthe upper base portion presses the protrusions to lock the neck portionto the upper base portion.

DETAILED DESCRIPTION

All references cited herein are incorporated herein in their entireties.If there is a conflict between a definition herein and in anincorporated reference, the definition herein shall control.

The terms trench and furrow are used interchangeably throughout thisspecification.

Depth Control and Soil Monitoring Systems

Referring now to the drawings, wherein like reference numerals designateidentical or corresponding parts throughout the several views, FIG. 1illustrates a tractor 5 drawing an agricultural implement, e.g., aplanter 10, comprising a toolbar 14 operatively supporting multiple rowunits 200. An implement monitor 50 preferably including a centralprocessing unit (“CPU”), memory and graphical user interface (“GUI”)(e.g., a touch-screen interface) is preferably located in the cab of thetractor 5. A global positioning system (“GPS”) receiver 52 is preferablymounted to the tractor 5.

Turning to FIG. 2 , an embodiment is illustrated in which the row unit200 is a planter row unit. The row unit 200 is preferably pivotallyconnected to the toolbar 14 by a parallel linkage 216. An actuator 218is preferably disposed to apply lift and/or downforce on the row unit200. A solenoid valve 390 is preferably in fluid communication with theactuator 218 for modifying the lift and/or downforce applied by theactuator. An opening system 234 preferably includes two opening discs244 rollingly mounted to a downwardly-extending shank 254 and disposedto open a v-shaped trench 38 in the soil 40. A pair of gauge wheels 248is pivotally supported by a pair of corresponding gauge wheel arms 260;the height of the gauge wheels 248 relative to the opener discs 244 setsthe depth of the trench 38. A depth adjustment rocker 268 limits theupward travel of the gauge wheel arms 260 and thus the upward travel ofthe gauge wheels 248. A depth adjustment actuator 380 is preferablyconfigured to modify a position of the depth adjustment rocker 268 andthus the height of the gauge wheels 248. The actuator 380 is preferablya linear actuator mounted to the row unit 200 and pivotally coupled toan upper end of the rocker 268. In some embodiments the depth adjustmentactuator 380 comprises a device such as that disclosed in InternationalPatent Application No. PCT/US2012/035585 (“the '585 application”) orInternational Patent Application Nos. PCT/US2017/018269 orPCT/US2017/018274. An encoder 382 is preferably configured to generate asignal related to the linear extension of the actuator 380; it should beappreciated that the linear extension of the actuator 380 is related tothe depth of the trench 38 when the gauge wheel arms 260 are in contactwith the rocker 268. A downforce sensor 392 is preferably configured togenerate a signal related to the amount of force imposed by the gaugewheels 248 on the soil 40; in some embodiments the downforce sensor 392comprises an instrumented pin about which the rocker 268 is pivotallycoupled to the row unit 200, such as those instrumented pins disclosedin Applicant's U.S. patent application Ser. No. 12/522,253 (Pub. No. US2010/0180695).

Continuing to refer to FIG. 2 , a seed meter 230 such as that disclosedin Applicant's International Patent Application No. PCT/US2012/030192 ispreferably disposed to deposit seeds 42 from a hopper 226 into thetrench 38, e.g., through a seed tube 232 disposed to guide the seedstoward the trench. In some embodiments, instead of a seed tube 232, aseed conveyor is implemented to convey seeds from the seed meter to thetrench at a controlled rate of speed as disclosed in U.S. patentapplication Ser. No. 14/347,902 and/or U.S. Pat. No. 8,789,482. In suchembodiments, a bracket such as that shown in FIG. 30 is preferablyconfigured to mount the seed firmer to the shank via sidewalls extendinglaterally around the seed conveyor, such that the seed firmer isdisposed behind the seed conveyor to firm seeds into the soil after theyare deposited by the seed conveyor. In some embodiments, the meter ispowered by an electric drive 315 configured to drive a seed disc withinthe seed meter. In other embodiments, the drive 315 may comprise ahydraulic drive configured to drive the seed disc. A seed sensor 305(e.g., an optical or electromagnetic seed sensor configured to generatea signal indicating passage of a seed) is preferably mounted to the seedtube 232 and disposed to send light or electromagnetic waves across thepath of seeds 42. A closing system 236 including one or more closingwheels is pivotally coupled to the row unit 200 and configured to closethe trench 38.

Turning to FIG. 3 , a depth control and soil monitoring system 300 isschematically illustrated. The monitor 50 is preferably in datacommunication with components associated with each row unit 200including the drives 315, the seed sensors 305, the GPS receiver 52, thedownforce sensors 392, the valves 390, the depth adjustment actuator380, and the depth actuator encoders 382. In some embodiments,particularly those in which each seed meter 230 is not driven by anindividual drive 315, the monitor 50 is also preferably in datacommunication with clutches 310 configured to selectively operablycouple the seed meter 230 to the drive 315.

Continuing to refer to FIG. 3 , the monitor 50 is preferably in datacommunication with a cellular modem 330 or other component configured toplace the monitor 50 in data communication with the Internet, indicatedby reference numeral 335. The internet connection may comprise awireless connection or a cellular connection. Via the Internetconnection, the monitor 50 preferably receives data from a weather dataserver 340 and a soil data server 345. Via the Internet connection, themonitor 50 preferably transmits measurement data (e.g., measurementsdescribed herein) to a recommendation server (which may be the sameserver as the weather data server 340 and/or the soil data server 345)for storage and receives agronomic recommendations (e.g., plantingrecommendations such as planting depth, whether to plant, which fieldsto plant, which seed to plant, or which crop to plant) from arecommendation system stored on the server; in some embodiments, therecommendation system updates the planting recommendations based on themeasurement data provided by the monitor 50.

Continuing to refer to FIG. 3 , the monitor 50 is also preferably indata communication with one or more temperature sensors 360 mounted tothe planter 10 and configured to generate a signal related to thetemperature of soil being worked by the planter row units 200. Themonitor 50 is preferably in data communication with one or morereflectivity sensors 350 mounted to the planter 10 and configured togenerate a signal related to the reflectivity of soil being worked bythe planter row units 200.

Referring to FIG. 3 , the monitor 50 is preferably in data communicationwith one or more electrical conductivity sensors 370 mounted to theplanter 10 and configured to generate a signal related to thetemperature of soil being worked by the planter row units 200.

In some embodiments, a first set of reflectivity sensors 350,temperature sensors 360, and electrical conductivity sensors are mountedto a seed firmer 400 and disposed to measure reflectivity, temperatureand electrical conductivity, respectively, of soil in the trench 38. Insome embodiments, a second set of reflectivity sensors 350, temperaturesensors 360, and electrical conductivity sensors 370 are mounted to areference sensor assembly 1800 and disposed to measure reflectivity,temperature and electrical conductivity, respectively, of the soil,preferably at a depth different than the sensors on the seed firmer 400.

In some embodiments, a subset of the sensors are in data communicationwith the monitor 50 via a bus 60 (e.g., a CAN bus). In some embodiments,the sensors mounted to the seed firmer 400 and the reference sensorassembly 1800 are likewise in data communication with the monitor 50 viathe bus 60. However, in the embodiment illustrated in FIG. 3 , thesensors mounted to the seed firmer 400 and the reference sensor assembly1800 are in data communication with the monitor 50 via a first wirelesstransmitter 62-1 and a second wireless transmitter 62-2, respectively.The wireless transmitters 62 at each row unit are preferably in datacommunication with a single wireless receiver 64 which is in turn indata communication with the monitor 50. The wireless receiver may bemounted to the toolbar 14 or in the cab of the tractor 5.

Soil Monitoring, Seed Monitoring and Seed Firming Apparatus

Turning to FIGS. 4A-4C, an embodiment of a seed firmer 400 isillustrated having a plurality of sensors for sensing soilcharacteristics. The seed firmer 400 preferably includes a flexibleportion 410 mounted to the shank 254 and/or the seed tube 232 by abracket 415. In some embodiments, the bracket 415 is similar to one ofthe bracket embodiments disclosed in U.S. Pat. No. 6,918,342. The seedfirmer preferably includes a firmer body 490 disposed and configured tobe received at least partially within v-shaped trench 38 and firm seeds42 into the bottom of the trench. When the seed firmer 400 is loweredinto the trench 38, the flexible portion 410 preferably urges the firmerbody 490 into resilient engagement with the trench. In some embodimentsthe flexible portion 410 preferably includes an external or internalreinforcement as disclosed in PCT/US2013/066652. In some embodiments thefirmer body 490 includes a removable portion 492; the removable portion492 preferably slides into locking engagement with the remainder of thefirmer body. The firmer body 490 (preferably including the portion ofthe firmer body engaging the soil, which in some embodiments comprisesthe removable portion 492) is preferably made of a material (or has anouter surface or coating) having hydrophobic and/or anti-stickproperties, e.g. having a Teflon graphite coating and/or comprising apolymer having a hydrophobic material (e.g., silicone oil orpolyether-ether-ketone) impregnated therein. Alternatively, the sensorscan be disposed on the side of seed firmer 400 (not shown).

Returning to FIGS. 4A through 4C, the seed firmer 400 preferablyincludes a plurality of reflectivity sensors 350 a, 350 b. Eachreflectivity sensor 350 is preferably disposed and configured to measurereflectivity of soil; in a preferred embodiment, the reflectivity sensor350 is disposed to measure soil in the trench 38, and preferably at thebottom of the trench. The reflectivity sensor 350 preferably includes alens disposed in the bottom of the firmer body 490 and disposed toengage the soil at the bottom of the trench 38. In some embodiments thereflectivity sensor 350 comprises one of the embodiments disclosed in8,204,689 and/or U.S. Provisional Patent Application 61/824975 (“the'975 application”). In various embodiments, the reflectivity sensor 350is configured to measure reflectivity in the visible range (e.g., 400and/or 600 nanometers), in the near-infrared range (e.g., 940nanometers) and/or elsewhere the infrared range.

The seed firmer 400 may also include a capacitive moisture sensor 351disposed and configured to measure capacitance moisture of the soil inthe seed trench 38, and preferably at the bottom of trench 38.

The seed firmer 400 may also include an electronic tensiometer sensor352 disposed and configured to measure soil moisture tension of the soilin the seed trench 38, and preferably at the bottom of trench 38.

Alternatively, soil moisture tension can be extrapolated from capacitivemoisture measurements or from reflectivity measurements (such as at 1450nm). This can be done using a soil water characteristic curve based onthe soil type.

The seed firmer 400 may also include a temperature sensor 360. Thetemperature sensor 360 is preferably disposed and configured to measuretemperature of soil; in a preferred embodiment, the temperature sensoris disposed to measure soil in the trench 38, preferably at or adjacentthe bottom of the trench 38. The temperature sensor 360 preferablyincludes soil-engaging ears 364, 366 disposed to slidingly engage eachside of the trench 38 as the planter traverses the field. The ears 364,366 preferably engage the trench 38 at or adjacent to the bottom of thetrench. The ears 364, 366 are preferably made of a thermally conductivematerial such as copper. The ears 364 are preferably fixed to and inthermal communication with a central portion 362 housed within thefirmer body 490. The central portion 362 preferably comprises athermally conductive material such as copper; in some embodiments thecentral portion 362 comprises a hollow copper rod. The central portion362 is preferably in thermal communication with a thermocouple fixed tothe central portion. In other embodiments, the temperature sensor 360may comprise a non-contact temperature sensor such as an infraredthermometer. In some embodiments, other measurements made by the system300 (e.g., reflectivity measurements, electrical conductivitymeasurements, and/or measurements derived from those measurements) aretemperature-compensated using the temperature measurement made by thetemperature sensor 360. The adjustment of the temperature-compensatedmeasurement based on temperature is preferably carried out by consultingan empirical look-up table relating the temperature-compensatedmeasurement to soil temperature. For example, the reflectivitymeasurement at a near-infrared wavelength may be increased (or in someexamples, reduced) by 1% for every 1 degree Celsius in soil temperatureabove 10 degrees Celsius.

The seed firmer preferably includes a plurality of electricalconductivity sensors 370 r, 370 f. Each electrical conductivity sensor370 is preferably disposed and configured to measure electricalconductivity of soil; in a preferred embodiment, the electricalconductivity sensor is disposed to measure electrical conductivity ofsoil in the trench 38, preferably at or adjacent the bottom of thetrench 38. The electrical conductivity sensor 370 preferably includessoil-engaging ears 374, 376 disposed to slidingly engage each side ofthe trench 38 as the planter traverses the field. The ears 374, 376preferably engage the trench 38 at or adjacent to the bottom of thetrench. The ears 374, 376 are preferably made of a electricallyconductive material such as copper. The ears 374 are preferably fixed toand in electrical communication with a central portion 372 housed withinthe firmer body 490. The central portion 372 preferably comprises anelectrically conductive material such as copper; in some embodiments thecentral portion 372 comprises a copper rod. The central portion 372 ispreferably in electrical communication with an electrical lead fixed tothe central portion. The electrical conductivity sensor can measure theelectrical conductivity within a trench by measuring the electricalcurrent between soil-engaging ears 374 and 376.

Referring to FIG. 4B, in some embodiments the system 300 measureselectrical conductivity of soil adjacent the trench 38 by measuring anelectrical potential between the forward electrical conductivity sensor370 f and the rearward electrical conductivity sensor 370 f. In otherembodiments, the electrical conductivity sensors 370 f, 370 r may bedisposed in longitudinally spaced relation on the bottom of the seedfirmer in order to measure electrical conductivity at the bottom of theseed trench.

In other embodiments, the electrical conductivity sensors 370 compriseone or more ground-working or ground-contacting devices (e.g., discs orshanks) that contact the soil and are preferably electrically isolatedfrom one another or from another voltage reference. The voltagepotential between the sensors 370 or other voltage reference ispreferably measured by the system 300. The voltage potential or anotherelectrical conductivity value derived from the voltage potential ispreferably and reported to the operator. The electrical conductivityvalue may also be associated with the GPS-reported position and used togenerate a map of the spatial variation in electrical conductivitythroughout the field. In some such embodiments, the electricalconductivity sensors may comprise one or more opening discs of a planterrow unit, row cleaner wheels of a planter row unit, ground-contactingshanks of a planter, ground-contacting shoes depending from a plantershank, shanks of a tillage tool, or discs of a tillage tool. In someembodiments a first electrical conductivity sensor may comprise acomponent (e.g., disc or shank) of a first agricultural row unit while asecond electrical conductivity sensor comprises a component (e.g., discor shank) of a second agricultural row unit, such that electricalconductivity of soil extending transversely between the first and secondrow units is measured. It should be appreciated that at least one of theelectrical conductivity sensors described herein is preferablyelectrically isolated from the other sensor or voltage reference. In oneexample, the electrical conductivity sensor is mounted to an implement(e.g., to the planter row unit or tillage tool) by being first mountedto an electrically insulating component (e.g., a component made from anelectrically insulating material such as polyethylene, polyvinylchloride, or a rubber-like polymer) which is in turn mounted to theimplement.

Referring to FIG. 4C, in some embodiments the system 300 measureselectrical conductivity of soil between two row units 200 having a firstseed firmer 400-1 and a second seed firmer 400-2, respectively, bymeasuring an electrical potential between an electrical conductivitysensor on the first seed firmer 400-1 and an electrical conductivitysensor on the second seed firmer 400-2. In some such embodiments, theelectrical conductivity sensor 370 may comprise a larger ground-engagingelectrode (e.g., a seed firmer housing) comprised of metal or otherconductive material. It should be appreciated that any of the electricalconductivity sensors described herein may measure conductivity by any ofthe following combinations: (1) between a first probe on aground-engaging row unit component (e.g., on a seed firmer, a rowcleaner wheel, an opening disc, a shoe, a shank, a frog, a coulter, or aclosing wheel) and a second probe on the same ground-engaging row unitcomponent of the same row unit; (2) between a first probe on a firstground-engaging row unit component (e.g., on a seed firmer, a rowcleaner wheel, an opening disc, a shoe, a shank, a frog, a coulter, or aclosing wheel) and a second probe on a second ground-engaging row unitcomponent (e.g., on a seed firmer, a row cleaner wheel, an opening disc,a shoe, a shank, a frog, a coulter, or a closing wheel) of the same rowunit; or (3) between a first probe on a first ground-engaging row unitcomponent (e.g., on a seed firmer, a row cleaner wheel, an opening disc,a shoe, a shank, a frog, a coulter, or a closing wheel) on a first rowunit and a second probe on a second ground-engaging row unit component(e.g., on a seed firmer, a row cleaner wheel, an opening disc, a shoe, ashank, a frog, a coulter, or a closing wheel) on a second row unit.Either or both of the row units described in combinations 1 through 3above may comprise a planting row unit or another row unit (e.g., atillage row unit or a dedicated measurement row unit) which may bemounted forward or rearward of the toolbar.

The reflectivity sensors 350, the temperature sensors 360, 360′, 360″,and the electrical conductivity sensors 370 (collectively, the“firmer-mounted sensors”) are preferably in data communication with themonitor 50. In some embodiments, the firmer-mounted sensors are in datacommunication with the monitor 50 via a transceiver (e.g., a CANtransceiver) and the bus 60. In other embodiments, the firmer-mountedsensors are in data communication with the monitor 50 via wirelesstransmitter 62-1 (preferably mounted to the seed firmer) and wirelessreceiver 64. In some embodiments, the firmer-mounted sensors are inelectrical communication with the wireless transmitter 62-1 (or thetransceiver) via a multi-pin connector comprising a male coupler 472 anda female coupler 474. In firmer body embodiments having a removableportion 492, the male coupler 472 is preferably mounted to the removableportion and the female coupler 474 is preferably mounted to theremainder of the firmer body 190; the couplers 472, 474 are preferablydisposed such that the couplers engage electrically as the removableportion is slidingly mounted to the firmer body.

Turning to FIG. 19A, another embodiment of the seed firmer 400′″ isillustrated incorporating a fiber-optic cable 1900. The fiber-opticcable 1900 preferably terminates at a lens 1902 in the bottom of thefirmer 400′″. The fiber-optic cable 1900 preferably extends to areflectivity sensor 350 a, which is preferably mounted separately fromthe seed firmer, e.g., elsewhere on the row unit 200. In operation,light reflected from the soil (preferably the bottom of trench 28)travels to the reflectivity sensor 350 a via the fiber-optic cable 1900such that the reflectivity sensor 350 a is enabled to measurereflectivity of the soil at a location remote from the seed firmer400′″. In other embodiments such as the seed firmer embodiment 400″″illustrated in FIG. 19B, the fiber-optic cable extends to a spectrometer373 configured to analyze light transmitted from the soil. Thespectrometer 373 is preferably configured to analyze reflectivity at aspectrum of wavelengths. The spectrometer 373 is preferably in datacommunication with the monitor 50. The spectrometer 373 preferablycomprises a fiber-optic spectrometer such as model no. USB4000 availablefrom Ocean Optics, Inc. in Dunedin, Fla. In the embodiments 400′″ and400″″, a modified firmer bracket 415′ is preferably configured to securethe fiber-optic cable 1900.

Turning to FIGS. 25-26 , another firmer embodiment 2500 is illustrated.The firmer 2500 includes an upper portion 2510 having a mounting portion2520. The mounting portion 2520 is preferably stiffened by inclusion ofa stiffening insert made of stiffer material than the mounting portion(e.g., the mounting portion may be made of plastic and the stiffeninginsert may be made of metal) in an inner cavity 2540 of the mountingportion 2520. The mounting portion 2520 preferably includes mountingtabs 2526, 2528 for releasably attaching the firmer 2500 to a bracket onthe row unit. The mounting portion 2520 preferably includes mountinghooks 2522, 2524 for attaching a liquid application conduit (e.g.,flexible tube) (not shown) to the firmer 2500. The upper portion 2510preferably includes an internal cavity 2512 sized to receive the liquidapplication conduit. The internal cavity 2512 preferably includes arearward aperture through which the liquid application conduit extendsfor dispensing liquid behind the firmer 2500. It should be appreciatedthat a plurality of liquid conduits may be inserted in the internalcavity 2512; additionally, a nozzle may be included at a terminal end ofthe conduit or conduits to redirect and/or split the flow of liquidapplied in the trench behind the firmer 2500.

The firmer 2500 also preferably includes a ground-engaging portion 2530mounted to the upper portion 2510. The ground-engaging portion 2530 maybe removably mounted to the upper portion 2510; as illustrated, theground-engaging portion is mounted to the upper portion by threadedscrews 2560, but in other embodiments the ground-engaging portion may beinstalled and removed without the use of tools, e.g. by aslot-and-groove arrangement. The ground-engaging portion 2530 may alsobe permanently mounted to the upper portion 2510, e.g., by using rivetsinstead of screws 2560, or by molding the upper portion to theground-engaging portion. The ground-engaging portion 2530 is preferablymade of a material having greater wear-resistance than plastic such asmetal (e.g., stainless steel, cobalt steel, or hardened white iron), mayinclude a wear-resistant coating (or a non-stick coating as describedherein), and may include a wear-resistant portion such as a tungstencarbide insert.

The ground-engaging portion 2530 preferably includes a sensor fordetecting characteristics of the trench (e.g., soil moisture, soilorganic matter, soil temperature, seed presence, seed spacing,percentage of seeds firmed, soil residue presence) such as areflectivity sensor 2590, preferably housed in a cavity 2532 of theground-engaging portion. The reflectivity sensor preferably includes asensor circuit board 2596 having a sensor disposed to receive reflectedlight from the trench through a transparent window 2592. The transparentwindow 2592 is preferably mounted flush with a lower surface of theground-engaging portion such that soil flows underneath the windowwithout building up over the window or along an edge thereof. Anelectrical connection 2594 preferably connects the sensor circuit board2596 to a wire or bus (not shown) placing the sensor circuit board indata communication with the monitor 50.

Turning to FIGS. 5-14 , another seed firmer embodiment 500 isillustrated. A flexible portion 504 is preferably configured toresiliently press a firmer body 520 into the seed trench 38. Mountingtabs 514, 515 releasably couple the flexible portion 504 to the firmerbracket 415, preferably as described in the '585 application.

A flexible liquid conduit 506 preferably conducts liquid (e.g., liquidfertilizer) from a container to an outlet 507 for depositing in oradjacent to the trench 38. The conduit 506 preferably extends throughthe firmer body 520 between the outlet 507 and a fitting 529 whichpreferably constrains the conduit 506 from sliding relative to thefirmer body 520. The portion of the conduit may extend through anaperture formed in the firmer body 520 or (as illustrated) through achannel covered by a removable cap 530. The cap 530 preferably engagessidewalls 522, 524 of the firmer body 520 by hooked tabs 532. Hookedtabs 532 preferably retain sidewalls 522, 524 from warping outward inaddition to retaining the cap 530 on the firmer body 520. A screw 533also preferably retains the cap 530 on the firmer body 520.

The conduit 506 is preferably retained to the flexible portion 504 ofthe seed firmer 500 by mounting hooks 508, 509 and by the mounting tabs514, 515. The conduit 506 is preferably resiliently grasped by arms 512,513 of the mounting hooks 508, 509 respectively. The conduit 506 ispreferably received in slots 516, 517 of mounting tabs 514, 515,respectively.

A harness 505 preferably comprises a wire or plurality of wires inelectrical communication with the firmer-mounted sensors describedbelow. The harness is preferably received in slots 510, 511 of themounting hooks 508, 509 and additionally retained in place by theconduit 506. The harness 505 is preferably grasped by slots 518, 519 ofthe mounting tabs 514, 515, respectively; the harness 505 is preferablypressed through a resilient opening of each slot 518, 519 and theresilient opening returns into place so that the slots retain theharness 505 unless the harness is forcibly removed.

In some embodiments the lowermost trench-engaging portion of the seedfirmer 500 comprises a plate 540. The plate 540 may comprise a differentmaterial and/or a material having different properties from theremainder of the firmer body 520; for example, the plate 540 may have agreater hardness than the remainder of the firmer body 520 and maycomprise powder metal. In some embodiments, the entire firmer body 520is made of a relatively hard material such as powder metal. In aninstallment phase, the plate 540 is mounted to the remainder of thefirmer body 520, e.g., by rods 592 fixed to plate 540 and secured to theremainder of the firmer body by snap rings 594; it should be appreciatedthat the plate may be either removably mounted or permanently mounted tothe remainder of the firmer body.

The seed firmer 500 is preferably configured to removably receive areflectivity sensor 350 within a cavity 527 within the firmer body 520.In a preferred embodiment, the reflectivity sensor 350 is removablyinstalled in the seed firmer 500 by sliding the reflectivity sensor 350into the cavity 527 until flexible tabs 525, 523 snap into place,securing the reflectivity sensor 350 in place until the flexible tabsare bent out of the way for removal of the reflectivity sensor. Thereflectivity sensor 350 may be configured to perform any of themeasurements described above with respect to the reflectivity sensor ofseed firmer 400. The reflectivity sensor 350 preferably comprises acircuit board 580 (in some embodiments an over-molded printed circuitboard). The reflectivity sensor 350 preferably detects light transmittedthrough a lens 550 having a lower surface coextensive with thesurrounding lower surface of the firmer body 550 such that soil andseeds are not dragged by the lens. In embodiments having a plate 540,the bottom surface of the lens 550 is preferably coextensive with abottom surface of the plate 540. The lens 550 is preferably atransparent material such as sapphire. The interface between the circuitboard 580 and the lens 550 is preferably protected from dust and debris;in the illustrated embodiment the interface is protected by an o-ring552, while in other embodiments the interface is protected by a pottingcompound. In a preferred embodiment, the lens 550 is mounted to thecircuit board 580 and the lens slides into place within the lowermostsurface of the firmer body 520 (and/or the plate 540) when thereflectivity sensor 350 is installed. In such embodiments, the flexibletabs 523, 525 preferably lock the reflectivity sensor into a positionwherein the lens 550 is coextensive with the lowermost surface of thefirmer body 520.

The seed firmer 500 preferably includes a temperature sensor 360. Thetemperature sensor 360 preferably comprises a probe 560. The probe 560preferably comprises a thermo-conductive rod (e.g., a copper rod)extending through the width of the firmer body 500 and having opposingends extending from the firmer body 500 to contact either side of thetrench 38. The temperature sensor 360 preferably also comprises aresistance temperature detector (“RTD”) 564 fixed to (e.g., screwed intoa threaded hole in) the probe 560; the RTD is preferably in electricalcommunication with the circuit board 580 via an electrical lead 565; thecircuit board 580 is preferably configured to process both reflectivityand temperature measurements and is preferably in electricalcommunication with the harness 505. In embodiments in which the plate540 and/or the remainder of the firmer body 520 comprise a thermallyconductive material, an insulating material 562 preferably supports theprobe 560 such that temperature changes in the probe are minimallyaffected by contact with the firmer body; in such embodiments the probe560 is preferably primarily surrounded by air in the interior of thefirmer body 520 and the insulating material 562 (or firmer body)preferably contacts a minimal surface area of the probe. In someembodiments the insulating material comprises a low-conductivity plasticsuch as polystyrene or polypropylene.

Turning to FIG. 15 , another embodiment 400′ of the seed firmer isillustrated having a plurality of reflectivity sensors 350. Reflectivitysensors 350 c, 350 d and 350 e are disposed to measure reflectivity ofregions 352 c, 352 d and 352 e, respectively, at and adjacent to thebottom of the trench 38. The regions 352 c, 352 d and 352 e preferablyconstitute a substantially contiguous region preferably including all orsubstantially the entire portion of the trench in which seed rests afterfalling into the trench by gravity. In other embodiments, a plurality oftemperature and/or electrical conductivity sensors are disposed tomeasure a larger, preferably substantially contiguous region.

Turning to FIG. 16 , another embodiment of a seed firmer 400″ isillustrated having a plurality of reflectivity sensors 350 disposed tomeasure at either side of the trench 38 at various depths within in thetrench. The reflectivity sensors 350 f, 350 k are disposed to measurereflectivity at or adjacent to the top of the trench 38. Thereflectivity sensors 350 h, 350 i are disposed to measure reflectivityat or adjacent to the bottom of the trench 38. The reflectivity sensors350 g, 350 j are disposed to measure reflectivity at an intermediatedepth of the trench 38, e.g., at half the depth of the trench. It shouldbe appreciated that in order to effectively make soil measurements at adepth at an intermediate depth of the trench, it is desirable to modifythe shape of the seed firmer such that the sidewalls of the seed firmerengage the sides of the trench at an intermediate trench depth.Likewise, it should be appreciated that in order to effectively makesoil measurements at a depth near the top of the trench (i.e., at ornear the soil surface 40), it is desirable to modify the shape of theseed firmer such that the sidewalls of the seed firmer engage the sidesof the trench at or near the top of the trench. In other embodiments, aplurality of temperature and/or electrical conductivity sensors aredisposed to measure temperature and/or electrical conductivity,respectively, of soil at a plurality of depths within the trench 38.

As described above with respect to the system 300, in some embodiments asecond set of reflectivity sensors 350, temperature sensors 360, andelectrical conductivity sensors 370 are mounted to a reference sensorassembly 1800. One such embodiment is illustrated in FIG. 18 , in whichthe reference sensor assembly opens a trench 39 in which a seed firmer400 having firmer-mounted sensors is resiliently engaged in order tosense the soil characteristics of the bottom of the trench 39. Thetrench 39 is preferably at a shallow depth (e.g., between ⅛ and ½ inch)or at a deep depth (e.g., between 3 and 5 inches). The trench ispreferably opened by a pair of opening discs 1830-1, 1830-2 disposed toopen a v-shaped trench in the soil 40 and rotating about lower hubs1834. The depth of the trench is preferably set by one or more gaugewheels 1820 rotating about upper hubs 1822. The upper and lower hubs arepreferably fixedly mounted to a shank 1840. The seed firmer ispreferably mounted to the shank 1840 by a firmer bracket 1845. The shank1840 is preferably mounted to the toolbar 14. In some embodiments, theshank 1840 is mounted to the toolbar 14 by a parallel arm arrangement1810 for vertical movement relative to the toolbar; in some suchembodiments, the shank is resiliently biased toward the soil by anadjustable spring 1812 (or other downforce applicator). In theillustrated embodiment the shank 1840 is mounted forward of the toolbar14; in other embodiments, the shank may be mounted rearward of thetoolbar 14. In other embodiments, the firmer 400 may be mounted to therow unit shank 254, to a closing wheel assembly, or to a row cleanerassembly.

An embodiment of the reference sensor 1800′ including an instrumentedshank 1840′ is illustrated in FIGS. 23 and 24 . Reference sensors 350 u,350 m, 350 l, are preferably disposed on a lower end of the shank 1840and disposed to contact soil on a sidewall of the trench 39 at oradjacent the top of the trench, at an intermediate trench depth, and ator adjacent the bottom of the trench, respectively. The shank 1840extends into the trench and preferably includes an angled surface 1842to which the reference sensors 350 are mounted; the angle of surface1842 is preferably parallel to the sidewall of the trench 39.

It should be appreciated that the sensor embodiment of FIGS. 4A-4C maybe mounted to and used in conjunction with equipment other than seedplanters such as tillage tools. For example, the seed firmer could bedisposed to contact soil in a trench opened by (or soil surfaceotherwise passed over by) a tillage implement such as a disc harrow orsoil ripper. On such equipment, the sensors could be mounted on a partof the equipment that contacts soil or on any extension that isconnected to a part of the equipment and contacts soil. It should beappreciated that in some such embodiments, the seed firmer would notcontact planted seed but would still measure and report soilcharacteristics as otherwise disclosed herein.

In another embodiment, any of the sensors (reflectivity sensor 350,temperature sensor 360, electrical conductivity sensor 370, capacitivemoisture sensor 351, and electronic tensiometer sensor 352) can bedisposed in seed firmer 400′ with an exposure through a side of seedfirmer 400′. As illustrated in FIG. 27A in one embodiment, seed firmer400′ has a protrusion 401′ from a side of seed firmer 400′ through whichthe sensors sense. Disposed in protrusion 401′ is a lens 402′. Havingprotrusion 401′ minimizes any buildup that blocks lens 402′, and lens402′ can stay in contact with the soil.

Lens 402′ can be made from any material that is durable to the abrasioncaused by soil contact and transparent to the wavelengths of light used.In certain embodiment, the material has a Mohs hardness of at least 8.In certain embodiments, the material is sapphire, ruby, diamond,moissanite (SiC), or toughened glass (such as Gorilla™ glass). In oneembodiment, the material is sapphire. In one embodiment as illustratedin FIGS. 28A and 28B, lens 402′ is a trapezoidal shape with sides slopedfrom the back 402′-b to the front 402′-f of lens 402′. In thisembodiment, lens 402′ can sit within protrusion 401′ with no retainersagainst the back 402′-b of lens 402′. Sensors that are disposed behindlens 402′ are then not obstructed by any such retainers. Alternatively,lens 402′ can be disposed the opposite to the previous embodiment withthe sides sloped from the front 402-f to the back 402-b.

For ease of assembly and for disposing sensors in seed firmer 400′, seedfirmer 400′ can be fabricated from component parts. In this embodiment,seed firmer 400′ has a resilient portion 410′, which mounts to shank 254and can urge seed firmer body portion 490′ into resilient engagementwith the trench 38. Firmer body portion 490′ includes a firmer base495′, sensor housing 496′, and lens body 498′. Base 495′ is illustratedin FIGS. 29A to 29C. Sensor housing 496′ is illustrated in FIG. 30A, anda cover 497′ for mating with sensor housing 496′ is illustrated in FIG.30B. Lens body 498′ is illustrated in FIGS. 31A and 31B, and lens body498′ is disposed in opening 499′ in firmer base 495′. Lens 402′ isdisposed in lens opening 494′ in lens body 498′. Sensors are disposed(such as on a circuit board, such as 580 or 2596) in sensor housing496′. As illustrated in FIG. 27B, there is a conduit 493′ disposedthrough a side of resilient portion 410′ and entering into sensorhousing 496′ for wiring (not shown) to connect to the sensors.

Protrusion 401′ will primarily be on lens body 498′, but a portion ofprotrusion 401′ can also be disposed on firmer body 495′ to either orboth sides of lens body 498′ to create a taper out to and back fromprotrusion 401′. It is expected protrusion 401′ will wear with contactwith the soil. Disposing a major portion of protrusion 401′ on lens body498′ allows for replacement of lens body 498′ after protrusion 401′and/or lens 402′ become worn or broken.

In another embodiment illustrated in FIG. 53 , a temperature sensor 360′is disposed in a seed firmer 400 (the reference to seed firmer 400 inthis paragraph is to any seed firmer such as 400, 400′, 400″, or 400′″)to measure temperature on an interior wall 409 that is in thermalconductivity with an exterior of seed firmer 400. Temperature sensor360′ measures the temperature of interior wall 409. In one embodiment,the area of interior wall 409 that temperature sensor 360′ measures isno more than 50% of the area of interior wall 409. In other embodiments,the area is no more than 40%, no more than 30%, no more than 20%, nomore than 10%, or no more than 5%. The smaller the area, the faster thattemperature sensor 360′ can react to changes in temperature. In oneembodiment, temperature sensor 360′ is a thermistor. Temperature sensor360′ can be in electrical communication with a circuit board (such ascircuit board 580 or 2596).

In another embodiment illustrated in FIG. 54 , a temperature sensor 360″is disposed through seed firmer 400 (the reference to seed firmer 400 inthis paragraph is to any seed firmer such as 400, 400′, 400″, or 400′″)to measure temperature of soil directly. Temperature sensor 360″ has aninternal thermally conductive material 1361 covered by a thermallyinsulating material 1362 with a portion of thermally conductive material1361 exposed to contact soil. The thermally conductive material in oneembodiment can be copper. Temperature sensor 360″ can be in electricalcommunication with a circuit board (such as circuit board 580 or 2596).

In either of the embodiments in FIGS. 53 and 54 , temperature sensor360′, 360″ is modular. It can be a separate part that can be incommunication with monitor 50 and separately replaceable from otherparts.

In one embodiment with seed firmer 400′, the sensor is the reflectivitysensor 350. Reflectivity sensor 350 can be two components with anemitter 350-e and a detector 350-d. This embodiment is illustrated inFIG. 32 .

In certain embodiments, the wavelength used in reflectivity sensor 350is in a range of 400 to 1600 nm. In another embodiment, the wavelengthis 550 to 1450 nm. In one embodiment, there is a combination ofwavelengths. In one embodiment, sensor 350 has a combination of 574 nm,850 nm, 940 nm, and 1450 nm. In another embodiment, sensor 350 has acombination of 589 nm, 850 nm, 940 nm, and 1450 nm. In anotherembodiment, sensor 350 has a combination of 640 nm, 850 nm, 940 nm, and1450 nm. In another embodiment, the 850 nm wavelength in any of theprevious embodiments is replaced with 1200 nm. In another embodiment,the 574 nm wavelength of any of the previous embodiments is replacedwith 590 nm. For each of the wavelengths described herein, it is to beunderstood that the number is actually +/−10 nm of the listed value. Incertain embodiments, the combination of wavelengths is 460 nm, 589 nm,850 nm, 1200 nm, and 1450 nm is used.

In one embodiment, the field of view from the front 402-f of lens 402′to the soil surface is 0 to 7.5 mm (0 to 0.3 inches). In anotherembodiment, the field of view is 0 to 6.25 mm (0 to 0.25 inches). Inanother embodiment, the field of view is 0 to 5 mm (0 to 0.2 inches). Inanother embodiment, the field of is 0 to 2.5 mm (0 to 0.1 inches).

As seed firmer 400′ travels across trench 38, there may be instanceswhere there is a gap between trench 38 and seed firmer 400′ such thatambient light will be detected by reflectivity sensor 350. This willgive a falsely high result. In one embodiment to remove the signalincrease from ambient light, emitter 350-e can be pulsed on and off. Thebackground signal is measured when there is no signal from emitter350-e. The measured reflectivity is then determined by subtracting thebackground signal from the raw signal when emitter 350-e is emitting toprovide the actual amount of reflectivity.

As shown in FIG. 32 , when reflectivity sensor 350 has just one emitter350-e and one detector 350-d, the area of overlap between the areailluminated by emitter 350-e and the area viewed by detector 350-d canbe limited. In one embodiment as illustrated in FIG. 33 , emitter 350-eand detector 350-d can be angled towards each other to increase theoverlap. While this is effective, this embodiment does increase themanufacturing cost to angle the emitter 350-e and detector 350-d. Also,when the surface of trench 38 is not smooth, there can be some ray oflight 999 that will impact trench 38 and not be reflected towardsdetector 350-d.

In another embodiment illustrated in FIG. 34 , the configuration fromFIG. 32 can be used, and a prism 450′ with a sloped side 451′ disposedunder emitter 350-e can refract the light from emitter 350-e towards thearea viewed by detector 350-d. Again with a single emitter 350-e, ray oflight 999 may impact trench 38 and not be reflected towards detector350-d.

In another embodiment illustrated in FIG. 35 , sensor 350 can have twoemitters 350-e-1 and 350-e-2 and one detector 350-d. This increases theoverlap between the area viewed by detector 350-d and the areailluminated by emitters 350-e-1 and 350-e-2. In another embodiment, tofurther increase the overlap, emitters 350-e-1 and 350-e-2 can be angledtowards detector 350-d as illustrated in FIG. 36 .

In another embodiment illustrated in FIG. 37 , two emitters 350-e-1 and350-e-2 are disposed next to detector 350-d. A prism 450″ has two slopedsurfaces 459-1 and 459-2 for refracting light from emitters 350-e-1 and350-e-2 towards the area viewed by detector 350-d.

In another embodiment illustrated in FIG. 38 , a single emitter 350-ecan be used in conjunction with a prism 450″ to approximate a dualemitter. Prism 450′″ is designed with angled sides to utilize thecritical angle of the material used to make prism 450″ (to keep lightwithin the material). The angles vary depending on the material. In oneembodiment, the material for prism 450′″ is polycarbonate. A portion ofthe light from emitter 350-e will impact side 451 and be reflected toside 452 to side 453 to side 454 before exiting bottom 455. Optionally,spacers 456-1 and 456-2 can be disposed on the bottom 455 to provide agap between prism 450′″ and lens 550.

In another embodiment, illustrated in FIG. 39 , reflectivity sensor hasone emitter 350-e and two detectors 350-d-1 and 350-d-2. As shown,emitter 350-e and detector 350-d-1 are aligned as viewed into thefigure. Detector 350-d-2 is angled towards emitter 350-1 and detector350-d-2.

In another embodiment that can be used with any of the previousembodiments or following embodiments, an aperture plate 460 can bedisposed adjacent to the sensor 350 with apertures 461 adjacent to eachemitter 350-e and detector 350-d. This embodiment is illustrated in FIG.40 with the embodiment from FIG. 37 . The aperture plate 460 can assistin controlling the half angles.

In another embodiment illustrated in FIG. 41 , a reflectivity sensor 350has one emitter 350-e and one detector 350-d. Disposed adjacent to thedetector is an orifice plate 460 that is only controlling the lightentering detector 350-d. Prism 450″″ is then disposed adjacent to theemitter 350-e and detector 350-d.

In another embodiment of a prism, multiple views of prism 450 can beseen in FIGS. 42A-42G.

FIG. 43 is a cross-sectional view of seed firmer 400′ of FIG. 27A takenat section A-A. Two emitters 350-e-1 and 350-e-2 and one detector 350-dare disposed in sensor housing 496′. Prism 450 from FIGS. 42A-42G isdisposed between emitters 350-e-1 and 350-e-2 and detector 350-d andlens 402′.

In another embodiment as illustrated in FIGS. 44A and 44B, there is areflectivity sensor 350 that has two emitters 350-e-1 and 350-e-2 inline with a detector 350-d-1. As viewed the emitters 350-e-1 and 350-e-2are pointed out of the paper, and the view of detector 350-d-1 ispointed out of the paper. There is a second detector that is offset fromemitters 350-e-1 and 350-e-2 and detector 350-d-1. In another embodiment(not shown) emitter 350-e-2 is omitted. As seen in FIG. 44B, detector350-d-2 is angled from vertical by an angle α and is viewing towardsemitters 350-e-1 and 350-e-2 and detector 350-d-1, which are alignedinto the paper. In one embodiment, the angle α is 30 to 60°. In anotherembodiment, the angle α is 45°. In one embodiment, the wavelength oflight used in this arrangement is 940 nm. This arrangement allows formeasurement of void spaces in soil. Detecting void spaces in soil willinform how effective tillage has been. The less or smaller void spacesindicates more compaction and less effective tillage. More or largervoid spaces indicates better tillage. Having this measurement of tillageeffectiveness allows for adjustment of downforce on row unit 200 asdescribed herein.

The depth away from seed firmer 400, 400′ and the length of void spacescan be measured by this arrangement. For short distances (generally upto 2.5 cm (1 inch) or up to about 1.27 cm (0.5 inches), the signaloutput from detector 350-d-2 increases as the distance to the targetsurface increases. While the signal from the primary reflectancedetector, 350-d-1, stays mostly constant to slightly decreasing. Anillustrative reflectance measurement is shown in FIG. 47 along with acorresponding calculated height off of target for a soil apparatus. Thereflectance measurement from 350-d-1 9001 and the reflectancemeasurement from 350-d-2 9002 are shown. When reflectance measurementfrom 350-d-1 9001 and the reflectance measurement from 350-d-2 9002 areapproximately the same, region 9003 is when target soil is flush withlens 402′. As a void is detected at region 9004, reflectance measurementfrom 350-d-1 9001 remains about the same or decreases, and thereflectance measurement from 350-d-2 9002 increases. The distance fromthe target surface is a function of the ratio between signals producedby 350-d-1 and 350-d-2. In one embodiment, the distance is calculated as(350-d-2 signal−350-d-1 signal)/(350-d-2 signal+350-d-1 signal)*scalingconstant. The scaling constant is a number that converts the reflectancemeasurement into distance. For the illustrated configuration, thescaling factor is 0.44. The scaling factor is measured and depends onemitter and detector placement, aperture plate dimensions, and prismgeometry. In one embodiment, a scaling factor can be determined byplacing a target at a known distance. A plot of the calculated targetdistance produces an elevation profile 9005 along the scanned surface.Knowing travel speed, the length 9006, depth 9007, and spacing 9008 ofthese voids can be calculated. A running average of these voidcharacteristics (length 9006, depth 9007, and spacing 9008) can becalculated and then reported as another metric to characterize thetexture of the soil being scanned. For example, once every second, asummary of average void length, average void depth, and number of voidsduring that period could be recorded/transmitted to monitor 50. Thetiming interval can be any selected amount of time greater than 0.Having a shorter amount of time, a smaller space is analyzed. An exampleof monitor 50 displaying on screen 2310 void length 2311, void depth2312, and number of voids 2313 is illustrated in FIG. 48 .

There can be an error in measuring reflectance as the height off targetfor an apparatus (e.g., soil apparatus, seed firmer, sensor arm, etc.)increases. A correction can be used to convert the raw measuredreflectance into a corrected measurement. A correction factor can beobtained by measuring reflectance at different heights off target. FIG.68 illustrates an example of a correction curve. There can be regionswhere the percent error is greater than zero, such as at a short heightoff target, and there can be regions where the percent error isnegative, such as at a long height off target. The percent error can bemultiplied by a factor to obtain a 0% error. For example, if the percenterror is 5% above the zero percent error line, then the measured valuecan be multiplied by about 95%.

In another embodiment, any scratches or films that form on lens 402′will affect the reflectivity detected by reflectivity sensor 350. Therewill be an increase in internal reflectivity within seed firmer 400,400′. The increase in reflectivity will increase the reflectancemeasurement. This increase can be accounted for when seed firmer 400,400′ is removed from trench 38. The reading of seed firmer 400, 400′ atthis time will become the new base reading, e.g. zeroed out. The nexttime seed firmer 400, 400′ is run in trench 38, the reflectivity abovethe new base or zero reading will be the actually measured reading.

In another embodiment, the reflectivity measurement from reflectivitysensor 350 allows for a seed germination moisture value to be obtainedfrom a data table and displayed to an operator on monitor 50. Seedgermination moisture is a dimensionless measurement related to theamount of water that is available to a seed for each given soil type.For different types of soil, water is retained differently. For example,sandy soil does not hold onto water as much as clay soil does. Eventhough there can be more water in clay than sand, there can be the sameamount of water that is released from the soil to the seed. Seedgermination moisture is a measurement of weight gain of a seed that hasbeen placed in soil. Seed is placed in soil for a sufficient period oftime to allow moisture to enter the seed. In one embodiment, three daysis the period. The weight of the seed before and after is measured.Also, the reflectivity of soils at different water contents is stored ina data table. A scale of 1 to 10 can be used. Numbers in the middle ofthe scale, such as 4-7, can be associated with water contents in eachsoil type that is an acceptable level of water for seeds. Low numbers,such as 1-3, can be used to indicate that soil is too dry for the seed.High numbers, such as 8-10, can be used to indicate that soil is too wetfor the seed. Knowing the soil type as input by the operator and themeasured reflectivity, seed germination moisture can be obtained fromthe data table. The result can be displayed on monitor 50 with theactual number. Also, the result can be accompanied by a color. Forexample, the font color of the reported result or the screen color onmonitor 50 can use green for values within the acceptable level andanother color, such as yellow or red, for values that are high or low.An example of monitor 50 displaying on screen 2300 seed germinationmoisture 2301 is illustrated in FIG. 45 . Alternatively, seed generationmoisture 2301 can be displayed on monitor 50 in FIG. 20 . Also, auniform moisture can be displayed on monitor 50 (not shown). Uniformmoisture is the standard deviation of seed germination moisture.

Depending on the seed germination moisture reading, the depth ofplanting can be adjusted as described herein. If the seed germinationmoisture is indicating too dry of conditions, then the depth can beincreased to go deeper until a specified moisture level is achieved. Ifthe seed germination moisture is indicating too moist, then the depthcan be decreased to go shallower until a specified moisture level isachieved.

In another embodiment, the uniformity of moisture or moisturevariability can be measured and displayed on monitor 50. An example ofmonitor 50 displaying on screen 2320 uniformity of moisture 2321 and/ordisplaying on screen 2330 moisture variability 2331 are illustrated inFIGS. 50 and 51 . One or both can be displayed, or both can be displayedon the same screen. Uniformity of moisture is 1—moisture variability.Any of the moisture readings can be used, such as capacitance moisture,seed germination moisture, or even volumetric water content or matrixpotential or days until germination, to calculate uniformity of moistureand moisture variability. Moisture variability is deviation from theaverage measurement. In one embodiment, moisture variability iscalculated by dividing the standard deviation by the average using anyof the moisture measurements. This provides a percentage. Any othermathematical method for expressing variation in measurement can also beused. In one embodiment, root mean square can be used in place of thestandard deviation. In addition to displaying the result on monitor 50,the result can be accompanied by a color. For example, the font color ofthe reported result or the screen color on monitor 50 can use green forvalues within the acceptable level and another color, such as yellow orred, for values that are unacceptable. For the above days togermination, this is determined by creating a database by placing seedsin different moisture levels and measuring the days until germination.Uniformity of moisture and moisture variability is then the variabilityin the days until germination.

Depending on the uniformity of moisture reading or moisture variabilityreading, the depth of planting can be adjusted as described herein. Inone embodiment, depth can be adjusted to maximize uniformity of moistureand minimize moisture variability.

In another embodiment, an emergence environment score can be calculatedand displayed on monitor 50. An example of monitor 50 displaying onscreen 2340 an emergence environment score 2341 is illustrated in FIG.52 . The emergence environment score is a combination of temperature andmoisture correlated to how long a seed takes to germinate under theseconditions. A database can be created by placing seeds in differentcombinations of temperature and moisture and measuring the days untilgermination. The emergence environment score displayed on monitor 50 canbe the days until germination from the database. In another embodiment,the emergence environment score can be the percentage of seeds plantedthat will germinate within a selected number of days. The selectednumber of days can be input into monitor 50. In another embodiment, ascaled score can be used that is based on a scale of 1 to 10 with 1representing the shortest number of days that a seed takes to germinateand 10 representing the longest number of days that a seed takes togerminate. For example, if a seed can germinate within 2 days, this isassigned a value of 1, and if the longest that the seed takes togerminate is 17 days, this is assigned a value of 10. In addition todisplaying the result on monitor 50, the result can be accompanied by acolor. For example, the font color of the reported result or the screencolor on monitor 50 can use green for values within the selected numberof days and another color, such as yellow or red, for values that aregreater than the selected number of days.

Depending on the emergence environment score, the depth of planting canbe adjusted as described herein. In one embodiment, depth can beadjusted to minimize the number of days to germination.

In another embodiment, a uniform furrow score can be calculated with aprocessing unit (e.g., processing unit of soil apparatus, implement,tractor, monitor, computer, etc.). Uniform Furrow can be calculatedbased on one or more of moisture, temperature, residue, soil clods,tillage differences for different soil regions, and row unit issues. Rowunit issues can be a seized opener discs 244, loose gauge wheels 248(which can cause dry soil to fall into the furrow), or clogged closingsystem 236. Row unit issues can cause the sensor implement (such asfirmer 400, 400′) to rise out of the furrow, and this is detected bysensing an increase in ambient light. Uniform Furrow can be calculatedas Uniform Furrow=100%−(% voids+% out of trench+% moisture variation).This is done for a selected amount of time, such as 200 ms. In oneexample, % voids is the % of time during a certain window (e.g., 200 mswindow) that the height off target (which can be at the 850 nm) isgreater than a threshold (e.g., 0.15″ (0.38 cm)). This can be triggeredby clods or voids in the soil. % out of trench is the time (or % of timein a window) that ambient light is detected with a sensor implement orheight off target is greater than a threshold (e.g., greater than 0.4″(1 cm)). % moisture variation is based on the absolute value of adifference that the 1200 nm/1450 nm reflectance ratio varies by morethan a specified amount, such as 0.01 to 0.5, from the running averageof the 1200 nm/1450 nm reflectance ratio. In one example, the % moisturevariation is % of time in a window (e.g., 200 ms window) that the 1200nm/1450 nm reflectance ratio varies by more than a specified amount andcan be calculated based on [abs(1200 nm instant reflection/1450 nminstant reflection)−(1200 nm running average reflection/1450 nm runningaverage reflection)]. In other embodiments, the specified amount is 0.1to 0.25, greater than or equal to about 0.15, 0.01 to 0.05, or greaterthan or equal to about 0.07. When the calculated value is above thespecified amount, then a value of 1 is subtracted from the value ofUniform Furrow each time this occurs in the time window (e.g., 200 mstime window). Running average can be a 1 s moving average. Instantreflection is values captured in a range of 500 Hz to 5 kHz.

In another embodiment, % moisture variation can be calculated as followswith a processing unit (e.g., processing unit of soil apparatus,implement, tractor, monitor, computer, etc.). First an estimatedreflectance for dry soil at 1450 nm is calculated as E1450 dry=1200 nmreflectance*2−850. Moisture indicator is then (1450 actual−E1450dry)/(1450 actual+E1450 dry), and then selected value is abs[moistureindicator (using instant reflectance values)−moisture indicator (usingrunning average reflectance values)]. In certain embodiments using thisformula, for a selected value greater than or equal to 0.07, a value of1 is subtracted from the value of Uniform Furrow each time this occursin the 200 ms time window.

In another embodiment, predicted air temperature can be used todetermine whether planted seeds will experience a ground temperaturethat is less than or greater than a desired temperature for effectiveplanting at a point in time after planting. For example, 50° F. (10° C.)can be considered the minimum temperature for planting so that the seedwill germinate. Even though the soil temperature could be above thisminimum temperature as the seed is planted, future weather could causethe soil temperature to drop below the minimum temperature. Soiltemperature tends to follow air temperature. At a specific point intime, e.g. LOAM, soil temperature and air temperature can be measured toobtain a temperature offset 7999. Predicted air temperature can beobtained with a network interface and downloaded from a weather serviceinto memory, such as in monitor 50 or memory 1205 of FIG. 79 . Using theoffset temperature 7999 that is calculated with monitor 50 or with aprocessing system (e.g., 1220, 1262), predicted soil temperature can beobtained from the predicted air temperature. This is illustrated in FIG.67 . An alarm can be set with the monitor 50 or processing system if thesoil temperature will be below the minimum soil temperature, greaterthan the maximum soil temperature, or deviate by a defined amount froman average temperature at a point in time in the future.

In addition to future temperature, future weather can also be downloaded(or input manually) and used to determine planting depth in combinationwith current moisture in the soil, current temperature in the soil, thetype of soil (e.g., sand, silt, and/or clay), and combinations thereof.Current moisture can be based on the quantity of water in the soil,matric potential of water in the soil, or Seed Germ Moisture. Futureweather can be air temperature, rainfall, wind speed, wind direction,solar radiation (amount of cloudiness), and combinations thereof. It isdesired to have a moisture and temperature for the seed duringgermination and/or emergence that are in an acceptable range for theseed to germinate and/or emerge. The combination of current conditionsand predicted weather can be used to determine planting depth. For soiltype, different soils will respond differently to added water (such asfrom rain). Depending on the holding capacity of the soil, addedrainfall will be retained in the soil, flow through the soil, or runoff. So not only knowing the current moisture, the future rainfall, andthe holding capacity of the specific type of soil, a future moisture canbe calculated. Future soil temperature and future soil moisture willchange based on future wind speed and/or future cloud cover. Wind speedwill change the evaporative rate of the soil and the temperature ofsoil. Cloud cover (or amount of sunshine) will also change theevaporative rate of the soil and the temperature of soil.

In another embodiment, seed germination data and a seed germination mapcan be calculated with a processing unit (e.g., processing unit of soilapparatus, implement, tractor, monitor, computer, etc.) and displayed onmonitor 50 or a display device. An example of monitor 50 displaying onscreen 2320 a seed germination map/score 2390 is illustrated in FIG. 69. It can be one or more of time to germination, time to emergence, orgermination risk. Time to germination and time to emergence can beexpressed in hours or days. Time can be blocked together into ranges andrepresented by different colors, shapes, patterns, etc. In oneembodiment, time to germination can be expressed in hours such as 0 to 8hours (assigned a green color), 8 to 16 hours (assigned a yellow color),16 to 24 hours (assigned an orange color), and greater than 24 hours(assigned a red color). Seed germination risk can begermination/emergence (no germination/emergence, on timegermination/emergence, or late germination/emergence) or factors otherthan time, such as, deformities, damaged seed, reduced vigor, ordisease. Seed germination risk can be high, medium, or low, or it can beon-time emergence, late emergence, or no emergence. Colors, shapes,patterns, etc. can be assigned to each of these. For example, low riskcan be green, medium risk, can be yellow, and high risk can be red. Tocalculate the seed germination map/score, one or more (or two or more)of the following measurements can be measured: soil moisture (quantityof water in the soil, matric potential of water in the soil, seed germmoisture), soil temperature, soil organic matter, uniform furrow, furrowresidue, soil type (sand, silt, clay), and residue cover (amount,location, distribution, and pattern of old and current crop matter onthe soil surface). A database can be created by placing seeds indifferent combinations of these conditions to measure time togermination, time to emergence, and seed germination risk. This databasecan then be accessed during planting as the properties are acquired tothen provide time to germination, time to emergence, or seed germinationrisk.

In other embodiments, below is a table relating measured properties(some listed above), each of the property's impact on seed germinationand/or emergence; how the property is measured; output of theinformation as raw data, seed environment score, time to germination,time to emergence, and/or seed germination risk; and actuation ofequipment or action to take. Note, a Stop Planting Action may be listedbelow for a Measured Property for which Stop Planting alone may not betaken, but Stop Planting may be an action for this Measured Property incombination with one or more other Measured Properties. For example,soil color alone may not be a reason to stop planting, but soil color incombination with other Measured Properties may result in a Stop PlantingAction. This can also be the situation for other actions, such as RowCleaner Aggressiveness.

Measured Impact on germination/ Actuation/ Property emergence HowMeasured Output Action Soil Color Radiative heat Seed firmer 400, Rawdata Adjust depth absorption 400′ Imagery Days to Germination Adjustdownforce Days to Emergence Hybrid selection Seed Germination Risk Rowcleaner Seed Environment Score aggressiveness Stop planting ResidueRadiative heat Seed firmer 400, Raw data Row cleaner absorption 400′Imagery Days to Germination aggressiveness Residue in furrow Days toEmergence Adjust depth Seed environment Seed Germination Risk Adjustdownforce quality Seed Environment Score Topography Watershed runoffReference source Raw data Adjust depth or infiltration Days toGermination Adjust downforce Days to Emergence Row cleaner SeedGermination Risk aggressiveness Seed Environment Score Stop plantingSoil Water holding Seed firmer 400, Raw data Adjust depth Texture/Typecapacity 400′ Imagery Days to Germination Adjust downforce Seed imbibingDays to Emergence Hybrid selection rate Seed Germination Risk Rowcleaner Thermal insulative Seed Environment Score aggressiveness factorStop planting Organic Matter Water holding Seed firmer 400, Raw dataAdjust depth capacity 400′ Imagery Days to Germination Adjust downforceSeed imbibing Days to Emergence Population rate Seed Germination RiskHybrid selection Thermal insulative Seed Environment Score Row cleanerfactor aggressiveness Stop planting Soil Temperature Impact on Seedfirmer 400, Raw data Adjust depth germination 400′ Days to GerminationAdjust downforce Days to Emergence Population Seed Germination Risk Stopplanting Seed Environment Score Row cleaner aggressiveness Soil MoistureImpact on Seed firmer 400, Raw data Adjust depth germination 400′ Daysto Germination Adjust downforce Days to Emergence Population SeedGermination Risk Stop planting Seed Environment Score Row cleaneraggressiveness Seed Shape/Size Volume of water User input Raw dataAdjust depth to germinate Days to Germination Adjust downforce Days toEmergence Hybrid selection Seed Germination Risk Row cleaner SeedEnvironment Score aggressiveness Stop planting Seed Cold Germ Risk of noUser input Raw data Adjust depth germination Days to Germination Adjustdownforce based on Days to Emergence Hybrid selection temperature SeedGermination Risk Row cleaner Seed Environment Score aggressiveness Stopplanting Time of Day Bias of current Monitor Raw data N/A temperature,moisture Furrow Depth Insulative effect Depth Actuator/ Raw data Adjustdepth of soil, Depth Sensor Days to Germination Adjust downforce Timerequired to Days to Emergence Row cleaner emerge from this SeedGermination Risk aggressiveness depth Seed Environment Score Stopplanting Temperature Temperature Weather source Raw data Adjust depthForecast impact on Days to Germination Adjust downforce germination Daysto Emergence Population Seed Germination Risk Hybrid selection SeedEnvironment Score Stop planting Row cleaner aggressiveness PrecipitationMoisture impact Weather source Raw data Adjust depth Forecast ongermination Days to Germination Adjust downforce Days to EmergencePopulation Seed Germination Risk Hybrid selection Seed Environment ScoreStop planting Row cleaner aggressiveness Wind Speed Thermal and Weathersource Raw data Adjust depth Forecast evaporative Days to GerminationAdjust downforce impact on soil Days to Emergence Population temperatureSeed Germination Risk Hybrid selection and/or moisture Seed EnvironmentScore Stop planting Row cleaner aggressiveness Cloud Cover Thermal andWeather source Raw data Adjust depth Forecast evaporative Days toGermination Adjust downforce impact on soil Days to Emergence Populationtemperature Seed Germination Risk Hybrid selection and/or moisture SeedEnvironment Score Stop planting Row cleaner aggressiveness

Residue coverage and soil color can be obtained from imagery. Imagerycan be obtained from a satellite or an aircraft, such as a drone, orfrom a camera disposed over the field, such as on a pole. For user inputof seed shape/size or cold germ, a user can input this informationdirectly, a user can scan a code (bar code or QR code from a package),or a user can input the specific type of seed (or scan a code), and thenthe size, shape, and cold germ can be referenced from a database basedon the seed type. The reference source for topography can be from storedinformation, such as a map, that was previously measured. Any method ofmeasuring topography can be used. As an alternative to adjusting depth,downforce can be adjusted to effect a change in depth, or row cleaneraggressiveness can be changed.

In another embodiment, seed environment data and a seed environmentscore 2450 can be calculated with a processing unit (e.g., processingunit of soil apparatus, implement, tractor, monitor, computer, etc.) anddisplayed on monitor 50 or a display device (e.g., display device 1225or 1230). An example of monitor 50 or display device displaying onscreen 2341 a seed environment score 2450 is illustrated in FIG. 71 . Itcan be a display of “Good” or “Bad” or similar status indicator toindicate whether the soil conditions are currently ready for plantingand optionally whether the soil conditions will remain acceptablethrough at least germination and optionally emergence. The seedenvironment score 2450 can be a score based on one or more propertiesfrom the table above that lists an output to seed environment score. Ifthe one or more properties that are measured will be within a selectedrange during the time selected (e.g., one or more of at planting, atgermination, and at emergence), the seed environment score 2450 candisplay a status that planting can occur, such as Good or OK. If one ormore of the properties that are measured will be outside of the selectedrange during the time selected, then the seed environment score 2450 candisplay a status that planting should not occur, such as Bad orUnacceptable. Also, a color, such as green or red can be associated withthe status. If a negative status is displayed, such as Bad orUnacceptable, a user can review one or more of the properties on a SeedEnvironment Score Properties 2342 screen on monitor 50. The value ofeach property can be displayed, and optionally, an indication of whetherthe property is within an acceptable range can be displayed. An exampleof a Seed Environment Properties 2342 screen is illustrated in FIG. 72 .

In another embodiment, any of the previous embodiments can be in adevice separate from seed firmer 400, 400′. As illustrated in FIG. 46 ,any of the sensors described herein (sensor 350 is illustrated in theFigure) is disposed in sensor arm 5000. Sensor arm 5000 has flexibleportion 5001 that is attached to seed firmer 400′″ at an end of flexibleportion 410′″ of seed firmer 400′″ proximate to bracket insert portion411′″. At the opposite end of flexible portion 5001 is base 5002. Sensor350 is disposed in base 5002 behind lens 5003. While it is desirable forany of the sensors to be in seed firmer 400′″, there may be times when adifference in the applied force is needed. In one embodiment, seedfirmer 400′″ may need a lower amount of force to firm a seed but agreater force is needed to keep the sensor in soil contact. A differentamount of stiffness can be designed into flexible portion 5001 ascompared to flexible portion 410′″. By having the seed firmed by seedfirmer 400, 400′ first, then the biasing from sensor arm 5000 does nottouch the seed that is already firmed into trench 38 or does not movethe seed if contact is made.

In other embodiments, any of the sensors do not need to be disposed in afirmer, and in particular any of the embodiments illustrated in FIGS.27A to 54 . The sensors can be in any implement that is disposed on anagricultural implement in contact with the soil. For example, firmerbody 490 can be mounted to any bracket and disposed anywhere on anagricultural implement and in contact with soil. Examples of anagricultural implement include, but are not limited to, planters,harvesters, sprayers, side dress bars, tillers, fertilizer spreaders,and tractor.

FIG. 49 illustrates a flow diagram of one embodiment for a method 4900of obtaining soil measurements and then generating a signal to actuateany implement on any agricultural implement. The method 4900 isperformed by hardware (circuitry, dedicated logic, etc.), software (suchas is run on a general purpose computer system or a dedicated machine ora device), or a combination of both. In one embodiment, the method 4900is performed by at least one system or device (e.g., monitor 50, soilmonitoring system, seed firmer, sensors, implement, row unit, etc). Thesystem executes instructions of a software application or program withprocessing logic. The software application or program can be initiatedby a system or may notify an operator or user of a machine (e.g.,tractor, planter, combine) depending on whether soil measurements causea signal to actuate an implement.

In any embodiment herein, at operation 4902, a system or device (e.g.,soil monitoring system, monitor 50, seed firmer, sensors) can obtainsoil measurements (e.g., measurements for moisture, organic matter,porosity, texture/type of soil, furrow residue, etc.). At operation4904, the system or device (e.g., soil monitoring system, monitor 50)can generate a signal to actuate any implement on any agriculturalimplement (e.g., change a population of planted seeds by controlling aseed meter, change seed variety (e.g., hybrid), change furrow depth,change application rate of fertilizer, fungicide, and/or insecticide,change applied downforce or upforce of an agricultural implement, suchas a planter or tiller, control the force applied by a row cleaner) inresponse to obtaining soil measurements. This can be done in real timeon the go. Examples of soil measurements that can be measured and thecontrol of implements include, but are not limited to:

-   A) moisture, organic matter, porosity, or texture/type of soil to    change a population of planted seeds by controlling a seed meter;-   B) moisture, organic matter, porosity, or texture/type of soil to    change seed variety (e.g., hybrid);-   C) moisture, organic matter, porosity, or texture/type of soil to    change furrow depth:-   D) moisture, organic matter, porosity, or texture/type of soil to    change application rate of fertilizer, fungicide, and/or    insecticide;-   E) moisture, organic matter, porosity, or texture/type of soil to    change applied downforce or upforce of an agricultural implement,    such as a planter or tiller;-   F) furrow residue to control the force applied by a row cleaner.    In one embodiment for downforce or upforce, a combination of    moisture and texture/type can be used. Higher downforce can be    applied in sandy and/or wet soils, and lower downforce can be used    in clay and/or wet soils. Too much downforce for a given soil type    can cause compaction of the soil, which decreases the ability of    roots to spread throughout the soil. Too little downforce for a    given soil type can allow an implement to ride up and not plant    seeds to a targeted depth. The downforce is generally applied    through the gauge wheels 248 adjacent to the trench.

Data Processing and Display

Referring to FIG. 20 , the implement monitor 50 or display device maydisplay a soil data summary 2000 displaying a representation (e.g.,numerical or legend-based representation) of soil data gathered usingthe seed firmer 400 and associated sensors. The soil data may bedisplayed in windows such as a soil moisture window 2020 and soiltemperature window 2025. A depth setting window 2030 may additionallyshow the current depth setting of the row units of the implement, e.g.,the depth at which the seed firmers 400 are making their respectivemeasurements. A reflectivity variation window may show a statisticalreflectivity variation during a threshold period (e.g., the prior 30seconds) or over a threshold distance traveled by the implement (e.g.,the preceding 30 feet). The statistical reflectivity variation maycomprise any function of the reflectivity signal (e.g., generated byeach reflectivity sensor 350) such as the variance or standard deviationof the reflectivity signal. The monitor 50 may additionally display arepresentation of a predicted agronomic result (e.g., percentage ofplants successfully emerged) based on the reflectivity variation value.For example, values of reflectivity emergence may be used to look up apredicted plant emergence value in an empirically-generated database(e.g., stored in memory of the implement monitor 50 or stored in andupdated on a remote server in data communication with the implementmonitor) associating reflectivity values with predicted plant emergence.

Each window in the soil data summary 2100 preferably shows an averagevalue for all row units (“rows”) at which the measurement is made andoptionally the row unit for which the value is highest and/or lowestalong with the value associated with such row unit or row units.Selecting (e.g., clicking or tapping) each window preferably shows theindividual (row-by-row) values of the data associated with the windowfor each of the row units at which the measurement is made.

A carbon content window 2005 preferably displays an estimate of the soilcarbon content. The carbon content is preferably estimated based on theelectrical conductivity measured by the electrical conductivity sensors370, e.g., using an empirical relation or empirical look-up tablerelating electrical conductivity to an estimated carbon contentpercentage. The window 2005 preferably additionally displays theelectrical conductivity measured by the electrical conductivity sensors370.

An organic matter window 2010 preferably displays an estimate of thesoil organic matter content. The organic matter content is preferablyestimated based on the reflectivity at one or a plurality of wavelengthsmeasured by the reflectivity sensors 350, e.g., using an empiricalrelation or empirical look-up table relating reflectivity at one or aplurality of wavelengths to an estimated organic matter percentage.

A soil components window 2015 preferably displays an estimate of thefractional presence of one or a plurality of soil components, e.g.,nitrogen, phosphorous, potassium, and carbon. Each soil componentestimate is preferably based on the reflectivity at one or a pluralityof wavelengths measured by the reflectivity sensors 350, e.g., using anempirical relation or empirical look-up table relating reflectivity atone or a plurality of wavelengths to an estimated fractional presence ofa soil component. In some embodiments, the soil component estimate ispreferably determined based on a signal or signals generated by thespectrometer 373. In some embodiments, the window 2015 additionallydisplays a ratio between the carbon and nitrogen components of the soil.

A moisture window 2020 preferably displays an estimate of soil moisture.The moisture estimate is preferably based on the reflectivity at one ora plurality of wavelengths (e.g., 930 or 940 nanometers) measured by thereflectivity sensors 350, e.g., using an empirical relation or empiricallook-up table relating reflectivity at one or a plurality of wavelengthsto an estimated moisture. In some embodiments, the moisture measurementis determined as disclosed in the '975 application.

A temperature window 2025 preferably displays an estimate of soiltemperature. The temperature estimate is preferably based on the signalgenerated by one or more temperature sensors 350.

A depth window 2030 preferably displays the current depth setting. Themonitor 50 preferably also enables the user to remotely actuate the rowunit 200 to a desired trench depth as disclosed in International PatentApplication No. PCT/US2014/029352.

Turning to FIG. 21 , the monitor 50 is preferably configured to displayone or more map windows 2100 in which a plurality of soil data,measurement, and/or estimate values (such as the reflectivity variation)are represented by blocks 2122, 2124, 2126, each block having a color orpattern associating the measurement at the block position to the ranges2112, 2114, 2116, respectively (of legend 2110) in which themeasurements fall. A map window 2100 is preferably generated anddisplayed for each soil data, measurement, and/or estimate displayed onthe soil data screen 2000, preferably including carbon content,electrical conductivity, organic matter, soil components (includingnitrogen, phosphorous, and potassium), moisture and soil temperature.The subsets may correspond to numerical ranges of reflectivityvariation. The subsets may be named according to an agronomic indicationempirically associated with the range of reflectivity variation. Forexample, a reflectivity variation below a first threshold at which noemergence failure is predicted may be labeled “Good”; a reflectivityvariation between the first threshold and a second threshold at whichpredicted emergence failure is agronomically unacceptable (e.g., islikely to affect yield by more than a yield threshold) may be labeled“Acceptable”’ a reflectivity variation above the second threshold may belabeled “Poor emergence predicted”.

Turning to FIG. 22 , the monitor 50 is preferably configured to displayone or more planting data windows including planting data measured bythe seed sensors 305 and/or the reflectivity sensors 350. The window2205 preferably displays a good spacing value calculated based on seedpulses from the optical (or electromagnetic) seed sensors 305. Thewindow 2210 preferably displays a good spacing value based on seedpulses from the reflectivity sensors 350. Referring to FIG. 17 , seedpulses 1502 in a reflectivity signal 1500 may be identified by areflectance level exceeding a threshold T associated with passage of aseed beneath the seed firmer. A time of each seed pulse 1502 may beestablished to be the midpoint of each period P between the first andsecond crossings of the threshold T. Once times of seed pulses areidentified (whether from the seed sensor 305 or from the reflectivitysensor 350), the seed pulse times are preferably used to calculate agood spacing value as disclosed in U.S. patent application Ser. No.13/752,031 (“the '031 application”). In some embodiments, in addition togood spacing other seed planting information (including, e.g.,population, singulation, skips and multiples) is also calculated anddisplayed on the screen 2200 according to the methods disclosed in the'031 application. In some embodiments, the same wavelength (and/or thesame reflectivity sensor 350) is used for seed detection as moisture andother soil data measurements; in some embodiments the wavelength isabout 940 nanometers. Where the reflectivity signal 1500 is used forboth seed detection and soil measurement (e.g., moisture), the portionof the signal identified as a seed pulse (e.g., the periods P) arepreferably not used in calculating the soil measurement; for example,the signal during each period P may be assumed to be a line between thetimes immediately prior to and immediately following the period P, or inother embodiments it may be assumed to be the average value of thesignal during the previous 30 seconds of signal not falling within anyseed pulse period P. In some embodiments, the screen 2200 also displaysa percentage or absolute difference between the good spacing values orother seed planting information determined based on seed sensor pulsesand the same information determined based on reflectivity sensor pulses.

In some embodiments, seed sensing is improved by selectively measuringreflectivity at a wavelength or wavelengths associated with acharacteristic or characteristics of the seed being planted. In somesuch embodiments, the system 300 prompts the operator to select a crop,seed type, seed hybrid, seed treatment and/or another characteristic ofthe seed to be planted. The wavelength or wavelengths at whichreflectivity is measured to identify seed pulses is preferably selectedbased on the seed characteristic or characteristics selected by theoperator.

In some embodiments, the “good spacing” values are calculated based onboth the seed pulse signals generated by the optical or electromagneticseed sensors 305 and the reflectivity sensors 350.

In some such embodiments, the “good spacing” value for a row unit isbased on the seed pulses generated the reflectivity sensor 350associated with the row unit, which are filtered based on the signalgenerated by the optical seed sensor 305 on the same row unit. Forexample, a confidence value may be associated with each seed pulsegenerated by the optical seed sensor, e.g., directly related to theamplitude of the optical seed sensor seed pulse; that confidence valuemay then be modified based on the optical seed sensor signal, e.g.,increased if a seed pulse was observed at the optical seed sensor withina threshold period prior to the reflectivity sensor seed pulse, anddecreased if the a seed pulse was not observed at the optical seedsensor within a threshold period prior to the reflectivity sensor seedpulse. A seed pulse is then recognized and stored as a seed placement ifthe modified confidence value exceeds a threshold.

In other such embodiments, the “good spacing” value for a row unit isbased on the seed pulses generated the optical seed sensor 305associated with the row unit, which are modified based on the signalgenerated by the reflectivity sensor 350 on the same row unit. Forexample, the seed pulses generated by the optical seed sensor 305 may beassociated with the time of the next seed pulse generated by thereflectivity sensor 350. If no seed pulse is generated by thereflectivity sensor 350 within a threshold time after the seed pulsegenerated by the seed sensor 305, then the seed pulse generated by theseed sensor 305 may be either ignored (e.g., if a confidence valueassociated with the seed sensor seed pulse is below a threshold) oradjusted by an average time delay between reflectivity sensor seedpulses and seed sensor seed pulses (e.g., the average time delay for thelast 10, 100 or 300 seeds).

In addition to displaying seed planting information such as good spacingvalues, in some embodiments the seed pulses measured may be used to timedeposition of in-trench liquid and other crop inputs in order to timeapplication such that the applied crop input lands on the seed, adjacentto the seed, or between seeds as desired. In some such embodiments, aliquid applicator valve selectively permitting liquid to flow fromoutlet 507 of the liquid conduit 506 is briefly opened a threshold time(e.g., 0 seconds, 1 ms, 10 ms, 100 ms or 1 second) after a seed pulse1502 is identified in signal 1500 from the reflectivity sensor 350associated with the same row unit 200 as the liquid applicator valve.

A signal generated by the reflectivity sensor may also be used toidentify the presence of crop residue (e.g., corn stalks) in the seedtrench. Where reflectivity in a range of wavelengths associated withcrop residue (e.g., between 560 and 580 nm) exceeds a threshold, thesystem 300 preferably determines that crop residue is present in thetrench at the current GPS-reported location. The spatial variation inresidue may then be mapped and displayed to a user. Additionally, thedownpressure supplied to a row cleaner assembly (e.g., apressure-controlled row cleaner as disclosed in U.S. Pat. No. 8,550,020may be adjusted either automatically by the system 300 in response tothe identification of residue or adjusted by the user. In one example,the system may command a valve associated with a row cleanerdownpressure actuator to increase by 5 psi in response to an indicationthat crop residue is present in the seed trench. Similarly, a closingwheel downforce actuator may also be adjusted by the system 300 or theoperator in response to an indication that crop residue is present inthe seed trench.

In some embodiments, an orientation of each seed is determined based onthe width of reflectivity-based seed pulse periods P. In some suchembodiments, pulses having a period longer than a threshold (an absolutethreshold or a threshold percentage in excess of the mean pulse period)are categorized in a first category while pulses having a shorter periodthan the threshold are categorized in a second category. The first andsecond category preferably correspond to first and second seedorientations. Percentages of seeds over the previous 30 seconds fallingin the first and/or second category may be displayed on the screen 2200.The orientation of each seed is preferably mapped spatially using theGPS coordinates of the seed such that individual plant performance maybe compared to seed orientation during scouting operations.

In some embodiments, a determination of seed-to-soil contact is madebased on the existence or lack of a recognized seed pulse generated bythe reflectivity sensor 350. For example, where a seed pulse isgenerated by the optical seed sensor 305 and no seed pulse is generatedby the reflectivity sensor 350 within a threshold time after the opticalseed sensor seed pulse, a “Poor” seed-to-soil contact value ispreferably stored and associated with the location at which thereflectivity sensor seed pulse was expected. An index of seed-to-soilcontact may be generated for a row or rows by comparing the number ofseeds having “Poor” seed-to-soil contact over a threshold number ofseeds planted, distance traveled, or time elapsed. The operator may thenbe alerted via the monitor 50 as to the row or rows exhibitingseed-to-soil contact below a threshold value of the index. Additionally,the spatial variation in seed-to-soil contact may be mapped anddisplayed to the user. Additionally, a criterion representing thepercentage of seeds firmed (e.g., not having “Poor” seed-to-soilcontact) over a preceding time period or number of seeds may bedisplayed to the operator.

In one embodiment, the depth of planting can be adjusted based on soilproperties measured by the sensors and/or camera so that seeds areplanted where the desired temperature, moisture, and/or conductance isfound in trench 38. A signal can be sent to the depth adjustmentactuator 380 to modify the position of the depth adjustment rocker 268and thus the height of the gauge wheels 248 to place the seed at thedesired depth. In one embodiment, an overall goal is to have the seedsgerminate at about the same time. This leads to greater consistency andcrop yield. When certain seeds germinate before other seeds, the earlierresulting plants can shade out the later resulting plants to deprivethem of needed sunlight and can disproportionately take up morenutrients from the surrounding soil, which reduces the yield from thelater germinating seeds. Days to germination is based on a combinationof moisture availability (soil moisture tension) and temperature.

In another embodiment, the depth can be adjusted based on a combinationof current temperature and moisture conditions in the field and thepredicted temperature and moisture delivery from a weather forecast.This process is described in U.S. Patent Publication No. 2016/0037709.

In any of the foregoing embodiments for depth control for moisture, thecontrol can be further limited by a minimum threshold temperature. Aminimum threshold temperature (for example 10° C. (50° F.)) can be setso that the planter will not plant below a depth where the minimumthreshold temperature is. This can be based on the actual measuredtemperature or by accounting for the temperature measured at a specifictime of day. Throughout the day, soil is heated by sunshine or cooledduring night time. The minimum threshold temperature can be based on anaverage temperature in the soil over a 24 hour period. The differencebetween actual temperature at a specific time of day and averagetemperature can be calculated and used to determine the depth forplanting so that the temperature is above a minimum thresholdtemperature.

The soil conditions of conductivity, moisture, temperature, and/orreflectance can be used to directly vary planted population(seeds/acre), nutrient application (gallons/acre), and/or pesticideapplication (lb./acre) based off of zones created by organic matter,soil moisture, and/or electrical conductivity.

In another embodiment, any of the sensors or camera can be adapted toharvest energy to power the sensor and/or wireless communication. As thesensors are dragged through the soil, the heat generated by soil contactor the motion of the sensors can be used as an energy source for thesensors.

FIGS. 55-66 illustrate a soil apparatus (e.g., firmer) having a lockingsystem in accordance with one embodiment. The firmer 5500 includes abase 5502 and a mounting portion 5520 (e.g., neck portion 5520) asillustrated in FIG. 55 . The mounting portion 5520 is preferablystiffened by inclusion of a stiffening insert made of stiffer materialthan the mounting portion (e.g., the mounting portion may be made ofplastic and the stiffening insert may be made of metal) in an innercavity of the mounting portion 5520. An upper portion 5510 of the baseas illustrated in FIGS. 55, 56, 60, and 61 may include an internalcavity that is sized or designed to receive a liquid applicationconduit. The internal cavity may include a rearward aperture throughwhich the liquid application conduit extends for dispensing liquidbehind the firmer 5500. It should be appreciated that a plurality ofliquid conduits may be inserted in the internal cavity; additionally, anozzle may be included at a terminal end of the conduit or conduits toredirect and/or split the flow of liquid applied in the trench behindthe firmer 5500.

The base 5502 includes a ground-engaging lower portion 5530 of the baseas illustrated in FIGS. 55, 56, 59, 62, and 66 that can be removablyinserted and connected to the upper portion 5510; but in otherembodiments the ground-engaging lower portion may be installed andremoved without the use of tools, e.g. by a slot-and-groove arrangement.The ground-engaging lower portion 5530 is preferably made of a materialhaving greater wear-resistance than plastic such as metal (e.g.,stainless steel or hardened white iron), may include a wear-resistantcoating (or a non-stick coating as described herein), and may include awear-resistant portion such as a tungsten carbide insert.

The ground-engaging lower portion 5530 of the base preferably includesat least one sensor for detecting characteristics of soil or a trench(e.g., soil moisture, soil organic matter, soil temperature, seedpresence, seed spacing, percentage of seeds firmed, soil residuepresence) such as a reflectivity sensor, preferably housed in a cavityof the ground-engaging lower portion. The reflectivity sensor preferablyincludes a sensor circuit board having a sensor disposed to receivereflected light from the trench through a transparent window 5592. Thetransparent window 5592 is preferably mounted flush with a lower surfaceof the ground-engaging lower portion such that soil flows underneath thewindow without building up over the window or along an edge thereof Anelectrical connection preferably connects the sensor circuit board to awire or bus (not shown) placing the sensor circuit board in datacommunication with the monitor 50.

The firmer 5500 includes a locking system for different components ofthe firmer. In one example, a neck portion 5520 has protrusions (e.g.,two prongs 5821-5822) as illustrated in FIG. 57 that insert into a lowerportion 5530 of the base. This does not lock until an upper portion 5510of the base with a region (e.g., “post 6010”) is inserted into the lowerportion and the region (e.g., “post 6010”) presses the protrusions(e.g., two prongs apart) to lock the neck portion to the base.

Alternatively, protrusions 5821 and 5822 could alternatively lock to thebase (e.g., lower base portion, upper base portion) without the need ofthe post. The base could have holes (e.g., circular holes, steppedholes) to accept the tabs on protrusions 5821 and 5822.

In one example, a dividing ridge 5830 on the neck portion divides afluid tube and the electrical line and holds them against U-shaped clipsintegrated into the side of the neck portion.

A fluid tube lies in a channel 6050 in the upper portion 5510 of thebase 5502 as illustrated in FIG. 59 . FIGS. 62 and 63 illustrate aconnector 6300 having a nipple 6310 to insert into the fluid tube inaccordance with one embodiment. The connector has wings 6330-6331 thatengage the upper portion of the base. There is a clip 6340 at the bottomof the front face to clip the connector to the upper portion.

A wear resistant insert 5700 is positioned ahead of the window 5592 toprovide wear resistance for the window as illustrated in FIG. 56 . Inone example, the material of the insert is preferably tungsten carbidethough other wear resistance materials can be used. In another example,the insert 5700 can also be above and/or below the window 5592 inaddition to or in place of before the window. Also, a temperature sensor5593 is positioned adjacent to window 5592. Temperature sensor 5593 canbe a temperature sensor described in U.S. Application No. 62/516,553,filed on 7 Jun. 2017, which was later incorporated into U.S. PatentApplication Publication Number 2018/0168094.

FIG. 64 illustrates a side view of a layer 6510 of resilient material(e.g., foam) to push a circuit board 6520 (e.g., printed circuit board,sensor circuit board) into a transparent window 5592 of a base 5502 orin close proximity to the window. The resilient layer 6510 functions asa “Locking spring” for positioning the circuit board 6520 with respectto the window 5592.

For securing a prism and emitters (e.g., sensors) to the board 6520,there are pins and holes 6570 with a snug fit as illustrated in FIG. 65. Screws may allow too much give and allow the emitters to move.

FIG. 66 illustrates a base having a separate window portion inaccordance with one embodiment. A window portion 6630 is a separate partto allow the window 5592 to be separately serviceable.

A water drain slit 6650 can be a gap in the base 5502. This will bewhere the window portion of the base mates with the base. The upperportion of the base can be a low friction abrasion resistant material(e.g., ultra high molecular weight polyethylene).

There can be an incident when the agricultural implement is driven inreverse with the sensor implement (such as firmer 400, 400′) stillengaged with the ground. Doing so, can damage the sensor implement. Base5502 can be the most expensive part of the sensor implement because itcan be made from cobalt or other expensive materials. To prevent damageto base 5502, a force relief (5529, 5522, 5523) can be disposed inmounting portion 5520, or optionally in base 5502 when base 5502 isattached directly to the agricultural implement. Illustrated in FIG.70A, a hole 5529 can be disposed in mounting portion 5520. When theagricultural implement is driven in reverse, the force to sensorimplement (such as firmer 400, 400′) is transferred to hole 5525 tocause mounting portion 5520 to break to relieve the applied force.Mounting portion 5520 is typically less expensive than base 5502.Instead of having mounting portion 5520 break, a spring (5522, 5523) canbe formed in mounting portion 5520. FIG. 70B illustrates where a spring(5522, 5523) can be disposed in mounting portion 5520. FIG. 70Cillustrates a first spring 5522 that is a partial opening in mountingportion 5520. FIG. 70D illustrates a second spring 5523 that is apartial opening in mounting portion 5520 with an interlock 5524. Ineither figure, as force is applied, portion 5520-b will bend away fromportion 5520-a. During normal operation in which the agriculturalimplement is driven forward, forces keep portion 5520-a and portion5520-b together. While illustrated as separate parts, mounting portion5520 (e.g., neck portion 5520) can be unitary with base 5502. Also, aswith other embodiments, base 5502 can be multiple parts.

In another embodiment illustrated in FIGS. 73 to 78 , a firmer 5600 ismodified to reduce adherence of sticky soils to firmer 5600.

Firmer 5600 can contain the same circuit board 6520, emitters 350,temperature sensor 5593, resilient layer 6510, window 5592, holes 6570,wear resistant insert 5700, etc. as firmer 5500, or firmer 5600 can bemodified as described below. Firmer 5600 has a mounting portion 5620(which can be the same as mounting portion 5520) and a base 5602.

Base 5602 has a lower outer portion 5603, which is illustrated in FIGS.74A to 74D. Lower outer portion 5603 covers the lower portion of base5602 except for window portion 5631. Lower outer portion 5603 is madefrom a low coefficient of friction material (less than or equal to 0.3static or less than or equal to 0.25 dynamic as measured by ASTM D1894).In other embodiments, the coefficient of friction is less than or equalto 0.2 static or less than or equal to 0.15 dynamic. In one embodiment,lower outer portion 5603 is made from UHMW (ultra high molecular weightpolyethylene). In other embodiments, lower outer portion 5603 covers atleast 50% of the height of base 5602. In other embodiments, lower outerportion 5603 covers at least 80%, at least 85%, at least 90%, at least95%, or at least 97% of the height of base 5602. Height can be measuredperpendicular to any point along the bottom of lower outer portion 5603.

Base 5602 additionally includes a second portion 5605 having an upperbase portion 5610 and lower internal portion 5606 as illustrated in FIG.75 . Upper base portion can contain a channel 6050 as illustrated inFIG. 76A that is similar to channel 6050 for upper base portion 5510.

Lower outer portion 5603 covers lower internal portion 5606 that isdisposed below upper base portion 5610. Lower internal portion 5606 hasan end 5607 as illustrated in FIGS. 77A, 77B, and 77C for connection tomounting portion 5620. Mounting portion 5620 can be the same as mountingportion 5520. Lower internal portion 5606 can provide structure tofirmer 5600, and it can house circuit board 6520 as illustrated in FIG.78 . Lower outer portion 5603 can abut upper base portion at a seam5604. As the height of lower outer portion 5603 changes, the location ofseam 5604 changes.

Lower engaging portion 5631 is similar to lower engaging portion 5530but is reduced in size as lower outer portion 5603 covers more of base5602. Lower engaging portion 5631 has window 5592 and temperature sensor5593 as illustrated in FIG. 73 . Lower engaging portion 5631 can be madefrom the same material as lower engaging portion 5530 to provide wearresistance and protect circuit board 6520 and emitters 350.

Any data that is measured during a pass through the field can be storedin a geo-referenced map and used again during a later pass in the samefield during the same season or in a subsequent year. For example,organic matter can be measured during a planting pass through the fieldduring planting. Having the geo-referenced organic matter content can beused during a fertilization pass to variable rate fertilizer based onlocation specific organic matter content. The data collected can bestored in a separate data file or as part of the field file.

FIG. 79 shows an example of a system 1200 that includes a machine 1202(e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g.,planter, sidedress bar, cultivator, plough, sprayer, spreader,irrigation implement, etc.) in accordance with one embodiment. Themachine 1202 includes a processing system 1220, memory 1205, machinenetwork 1210 (e.g., a controller area network (CAN) serial bus protocolnetwork, an ISOBUS network, etc.), and a network interface 1215 forcommunicating with other systems or devices including the implement1240. The machine network 1210 includes sensors 1212 (e.g., speedsensors), controllers 1211 (e.g., GPS receiver, radar unit) forcontrolling and monitoring operations of the machine or implement. Thenetwork interface 1215 can include at least one of a GPS transceiver, aWLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetoothtransceiver, Ethernet, or other interfaces from communications withother devices and systems including the implement 1240. The networkinterface 1215 may be integrated with the machine network 1210 orseparate from the machine network 1210 as illustrated in FIG. 12 . TheI/O ports 1229 (e.g., diagnostic/on board diagnostic (OBD) port) enablecommunication with another data processing system or device (e.g.,display devices, sensors, etc.).

In one example, the machine performs operations of a tractor that iscoupled to an implement for planting applications of a field. Theplanting data for each row unit of the implement can be associated withlocational data at time of application to have a better understanding ofthe planting for each row and region of a field. Data associated withthe planting applications can be displayed on at least one of thedisplay devices 1225 and 1230. The display devices can be integratedwith other components (e.g., processing system 1220, memory 1205, etc.)to form the monitor 50.

The processing system 1220 may include one or more microprocessors,processors, a system on a chip (integrated circuit), or one or moremicrocontrollers. The processing system includes processing logic 1226for executing software instructions of one or more programs and acommunication unit 1228 (e.g., transmitter, transceiver) fortransmitting and receiving communications from the machine via machinenetwork 1210 or network interface 1215 or implement via implementnetwork 1250 or network interface 1260. The communication unit 1228 maybe integrated with the processing system or separate from the processingsystem. In one embodiment, the communication unit 1228 is in datacommunication with the machine network 1210 and implement network 1250via a diagnostic/OBD port of the I/O ports 1229.

Processing logic 1226 including one or more processors or processingunits may process the communications received from the communicationunit 1228 including agricultural data (e.g., GPS data, plantingapplication data, soil characteristics, any data sensed from sensors ofthe implement 1240 and machine 1202, etc.). The system 1200 includesmemory 1205 for storing data and programs for execution (software 1206)by the processing system. The memory 1205 can store, for example,software components such as planting application software for analysisof soil and planting applications for performing operations of thepresent disclosure, or any other software application or module, images1208 (e.g., captured images of crops, soil, furrow, soil clods, rowunits, etc.), alerts, maps, etc. The memory 1205 can be any known formof a machine readable non-transitory storage medium, such assemiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatilememory, such as hard disks or solid-state drive. The system can alsoinclude an audio input/output subsystem (not shown) which may include amicrophone and a speaker for, for example, receiving and sending voicecommands or for user authentication or authorization (e.g., biometrics).

The processing system 1220 communicates bi-directionally with memory1205, machine network 1210, network interface 1215, display device 1230,display device 1225, and I/O ports 1229 via communication links1231-1236, respectively. The processing system 1220 can be integratedwith the memory 1205 or separate from the memory 1205.

Display devices 1225 and 1230 can provide visual user interfaces for auser or operator. The display devices may include display controllers.In one embodiment, the display device 1225 is a portable tablet deviceor computing device with a touchscreen that displays data (e.g.,planting application data, captured images, localized view map layer,high definition field maps of seed germination data, seed environmentdata, as-planted or as-harvested data or other agricultural variables orparameters, yield maps, alerts, etc.) and data generated by anagricultural data analysis software application and receives input fromthe user or operator for an exploded view of a region of a field,monitoring and controlling field operations. The operations may includeconfiguration of the machine or implement, reporting of data, control ofthe machine or implement including sensors and controllers, and storageof the data generated. The display device 1230 may be a display (e.g.,display provided by an original equipment manufacturer (OEM)) thatdisplays images and data for a localized view map layer, as-appliedfluid application data, as-planted or as-harvested data, yield data,seed germination data, seed environment data, controlling a machine(e.g., planter, tractor, combine, sprayer, etc.), steering the machine,and monitoring the machine or an implement (e.g., planter, combine,sprayer, etc.) that is connected to the machine with sensors andcontrollers located on the machine or implement.

A cab control module 1270 may include an additional control module forenabling or disabling certain components or devices of the machine orimplement. For example, if the user or operator is not able to controlthe machine or implement using one or more of the display devices, thenthe cab control module may include switches to shut down or turn offcomponents or devices of the machine or implement.

The implement 1240 (e.g., planter, cultivator, plough, sprayer,spreader, irrigation implement, etc.) includes an implement network1250, a processing system 1262, a network interface 1260, and optionalinput/output ports 1266 for communicating with other systems or devicesincluding the machine 1202. The implement network 1250 (e.g, acontroller area network (CAN) serial bus protocol network, an ISOBUSnetwork, etc.) includes a pump 1256 for pumping fluid from a storagetank(s) 1290 to application units 1280, 1281, . . . N of the implement,sensors 1252 (e.g., speed sensors, seed sensors for detecting passage ofseed, sensors for detecting characteristics of soil or a trenchincluding soil moisture, soil organic matter, soil temperature, seedpresence, seed spacing, percentage of seeds firmed, and soil residuepresence, downforce sensors, actuator valves, moisture sensors or flowsensors for a combine, speed sensors for the machine, seed force sensorsfor a planter, fluid application sensors for a sprayer, or vacuum, lift,lower sensors for an implement, flow sensors, etc.), controllers 1254(e.g., GPS receiver), and the processing system 1262 for controlling andmonitoring operations of the implement. The pump controls and monitorsthe application of the fluid to crops or soil as applied by theimplement. The fluid application can be applied at any stage of cropdevelopment including within a planting trench upon planting of seeds,adjacent to a planting trench in a separate trench, or in a region thatis nearby to the planting region (e.g., between rows of corn orsoybeans) having seeds or crop growth.

For example, the controllers may include processors in communicationwith a plurality of seed sensors. The processors are configured toprocess data (e.g., fluid application data, seed sensor data, soil data,furrow or trench data) and transmit processed data to the processingsystem 1262 or 1220. The controllers and sensors may be used formonitoring motors and drives on a planter including a variable ratedrive system for changing plant populations. The controllers and sensorsmay also provide swath control to shut off individual rows or sectionsof the planter. The sensors and controllers may sense changes in anelectric motor that controls each row of a planter individually. Thesesensors and controllers may sense seed delivery speeds in a seed tubefor each row of a planter.

The network interface 1260 can be a GPS transceiver, a WLAN transceiver(e.g., WiFi), an infrared transceiver, a Bluetooth transceiver,Ethernet, or other interfaces from communications with other devices andsystems including the machine 1202. The network interface 1260 may beintegrated with the implement network 1250 or separate from theimplement network 1250 as illustrated in FIG. 12 .

The processing system 1262 having processing logic 1264 communicatesbi-directionally with the implement network 1250, network interface1260, and I/O ports 1266 via communication links 1241-1243,respectively.

The implement communicates with the machine via wired and possibly alsowireless bi-directional communications 1204. The implement network 1250may communicate directly with the machine network 1210 or via thenetworks interfaces 1215 and 1260. The implement may also by physicallycoupled to the machine for agricultural operations (e.g., planting,harvesting, spraying, etc.).

The memory 1205 may be a machine-accessible non-transitory medium onwhich is stored one or more sets of instructions (e.g., software 1206)embodying any one or more of the methodologies or functions describedherein. The software 1206 may also reside, completely or at leastpartially, within the memory 1205 and/or within the processing system1220 during execution thereof by the system 1200, the memory and theprocessing system also constituting machine-accessible storage media.The software 1206 may further be transmitted or received over a networkvia the network interface 1215.

In one embodiment, a machine-accessible non-transitory medium (e.g.,memory 1205) contains executable computer program instructions whichwhen executed by a data processing system cause the system to performsoperations or methods of the present disclosure. While themachine-accessible non-transitory medium (e.g., memory 1205) is shown inan exemplary embodiment to be a single medium, the term“machine-accessible non-transitory medium” should be taken to include asingle medium or multiple media (e.g., a centralized or distributeddatabase, and/or associated caches and servers) that store the one ormore sets of instructions. The term “machine-accessible non-transitorymedium” shall also be taken to include any medium that is capable ofstoring, encoding or carrying a set of instructions for execution by themachine and that cause the machine to perform any one or more of themethodologies of the present disclosure. The term “machine-accessiblenon-transitory medium” shall accordingly be taken to include, but not belimited to, solid-state memories, optical and magnetic media, andcarrier wave signals.

Any of the following examples can be combined into a single embodimentor these examples can be separate embodiments. In one example of a firstembodiment, a soil apparatus comprises a lower base portion for engagingin soil of an agricultural field; an upper base portion; and a neckportion having protrusions to insert into the lower base portion of abase and then lock when a region of the upper base portion is insertedinto the lower base portion and this region of the upper base portionpresses the protrusions to lock the neck portion to the upper baseportion.

In another example of the first embodiment, the soil apparatus furthercomprises a window disposed in the lower base portion; and a sensordisposed in the lower base portion adjacent to the window, the sensor isconfigured to sense soil through the window when the lower base portionengages in soil of the agricultural field.

In another example of the first embodiment, the sensor for detectingcharacteristics of soil or a trench includes at least one of soilmoisture, soil organic matter, soil temperature, seed presence, seedspacing, percentage of seeds firmed, and soil residue presence.

In another example of the first embodiment, the window is mounted flushwith a lower surface of the ground-engaging lower portion such that soilflows underneath the window without building up over the window or alongan edge of the window.

In another example of the first embodiment, a wear resistant insert ispositioned in close proximity to the window to provide wear resistancefor the window.

In another example of the first embodiment, the soil apparatus comprisesa seed firmer.

In another example of the first embodiment, the upper base portionincludes an internal cavity that is designed to receive a fluidapplication conduit and the internal cavity includes a rearward aperturethrough which the fluid application conduit extends for dispensing fluidbehind the firmer.

In another example of the first embodiment, the lower base portionincludes a resilient layer to position a circuit board in proximity tothe window.

In another example of the first embodiment, the lower base portionincludes a separate window portion to allow the window to be separatelyserviceable.

In another example of the first embodiment, the lower base portionincludes a water drain slit that defines a feature for the windowportion of the lower base portion to mate with the lower base portion.

In another example of the first embodiment, the neck portion includes aforce relief to prevent damage to the lower base portion if the soilapparatus is engaged in soil while an agricultural implement is drivenin a reverse direction.

In another example of the first embodiment, the neck portion includes apartial opening to prevent damage to the soil apparatus if the soilapparatus is engaged in soil while an agricultural implement is drivenin a reverse direction.

In another example of the first embodiment, the lower base portionincludes a lower outer portion to protect the lower base portion.

In another example of the first embodiment, the lower outer portion ismade from a low coefficient of friction material.

In another example of the first embodiment, the lower outer portioncovers at least 50% of a height of the lower base portion.

In another example of the first embodiment, the lower base portionadditionally includes a second portion having an upper base portion andlower internal portion.

In another example of the first embodiment, the upper base portion ofthe second portion includes a channel.

In another example of the first embodiment, the lower internal portionis disposed below upper base portion and lower internal portion has anend for connection to the neck portion.

In another example of the first embodiment, the lower base portion is atleast 50% of a combined height of the lower base portion and the upperbase portion, and the lower base portion is made from a material havinga coefficient of static friction less than or equal to 0.3.

In another example of the first embodiment, the coefficient of staticfriction is less than or equal to 0.2, and the lower base portion is atleast 90% of the combined height.

In one example of a second embodiment, a soil apparatus comprises alower base portion for engaging in soil of an agricultural field; anupper base portion; and a neck portion having protrusions to insert intoopenings of the lower base portion and then lock to the lower baseportion when the openings accept the protrusions.

In another example of the second embodiment, the openings comprise holesto accept tabs of the protrusions for locking the neck portion to thelower base portion.

In another example of the second embodiment, the protrusions comprisetwo prongs.

In another example of the second embodiment, the neck portion includes adividing ridge on the neck portion to divide a fluid tube and anelectrical line.

In another example of the second embodiment, a window is disposed in thelower base portion; and a sensor is disposed in the lower base portionadjacent to the window. The sensor is configured to sense soil throughthe window when the lower base portion engages in soil of theagricultural field.

In another example of the second embodiment, the soil apparatuscomprises a seed firmer.

In another example of the second embodiment, the lower base portionincludes a resilient layer to position a circuit board in proximity tothe window.

In another example of the second embodiment, the neck portion includes aforce relief to prevent damage to the lower base portion if the soilapparatus is engaged in soil while an agricultural implement is drivenin a reverse direction.

In another example of the second embodiment, the neck portion includes aspring to prevent damage to the soil apparatus if the soil apparatus isengaged in soil while an agricultural implement is driven in a reversedirection.

In another example of the second embodiment, the lower base portionincludes a lower outer portion to protect the lower base portion.

In another example of the second embodiment, the lower outer portion ismade from a low coefficient of friction material.

In another example of the second embodiment, the lower outer portioncovers at least 50% of a height of the lower base portion.

In one example of a third embodiment, a soil apparatus comprises a baseportion for engaging in soil of an agricultural field; a neck portionconnected to the base portion, the neck portion configured to attach toan agricultural implement. The neck portion includes a force relief toprevent damage to the base portion if the soil apparatus is engaged insoil while the agricultural implement is driven in a reverse direction.

In another example of the third embodiment, the neck portion and thebase portion are separate components.

In another example of the third embodiment, the neck portion isreleasably connected to the agricultural implement.

In another example of the third embodiment, the force relief is a holein the neck to allow the neck to break to prevent damage to the baseportion.

In another example of the third embodiment, the force relief is a springto allow the neck to flex.

In another example of the third embodiment, the base portion comprises alower base portion and an upper base portion.

In one example of a fourth embodiment, a soil apparatus comprises a baseportion for engaging in soil of an agricultural field, and the baseportion is adapted for connection to an agricultural implement; a soilsensor disposed in or on the base portion for measuring a soil property;a force relief disposed on the base portion or between the base portionand the agricultural implement to prevent damage to the base portion ifthe soil apparatus is engaged in soil while the agricultural implementis driven in a reverse direction.

In another example of the fourth embodiment, the soil apparatus furthercomprises a neck portion connected to the base portion, the neck portionconfigured to attach to the agricultural implement, and the force reliefis disposed in the neck portion.

In another example of the fourth embodiment, the soil apparatuscomprises a base portion for engaging in soil of an agricultural field,and the base portion is adapted for connection to an agriculturalimplement.

In another example of the fourth embodiment, the soil apparatuscomprises a window in the base portion; a wear resistant insert disposedin or on the base portion in one or more locations selected from thegroup consisting of i) ahead of the window in a direction of travel ofthe soil apparatus through soil, ii) above the window, and iii) belowthe window.

In another example of the fourth embodiment, the soil apparatus furthercomprises a neck portion connected to the base portion, the neck portionconfigured to attach to the agricultural implement.

In one example of a fifth embodiment, a soil apparatus comprises a baseportion for engaging in soil of an agricultural field, and the baseportion is adapted for connection to an agricultural implement. The baseportion comprises an outer portion disposed over an internal portion;and wherein the outer portion is made from a material having acoefficient of static friction less than or equal to 0.3.

In another example of the fifth embodiment, the soil apparatus furthercomprises a neck portion connected to the base portion, the neck portionconfigured to attach to the agricultural implement.

In another example of the fifth embodiment, the internal portioncomprises a lower base portion and an upper base portion.

In another example of the fifth embodiment, the lower base portioncomprises a window, and the outer portion is not disposed over thewindow.

In another example of the fifth embodiment, the outer portion is atleast 50% of a height of the base portion.

In another example of the fifth embodiment, the outer portion is atleast 90% of a height of the base portion.

In another example of the fifth embodiment, the coefficient of staticfriction is less than or equal to 0.2.

In one example of a sixth embodiment, a method of calculating a uniformfurrow measurement as a soil apparatus is drawn through a furrowincludes the soil apparatus to measure one or more soil properties. Themethod comprises measuring during a measurement period with the soilapparatus a percent time out of furrow, optionally a percent voids, andoptionally a percent moisture variation, or a percent of voids and apercent moisture variation, to obtain a measurement; and calculatinguniform furrow by subtracting the measurement from 100 percent.

In another example of the sixth embodiment, the percent voids and thepercent moisture variation are measured.

In another example of the sixth embodiment, the coefficient of staticfriction is less than or equal to 0.2.

In another example of the sixth embodiment, measuring the percent timeout of the furrow comprising measuring a percentage of time that ambientlight is detected.

In another example of the sixth embodiment, measuring the percent voidscomprises measuring a percentage of time that a height off target isgreater than a threshold value.

In another example of the sixth embodiment, measuring the percentmoisture variation comprises calculating an absolute value of adifference between (an instantaneous reflection value of a firstwavelength divided by an instantaneous reflection value of a secondwavelength) subtract (running average of reflection value of the firstwavelength divided by running average of reflection value of the secondwavelength).

In another example of the sixth embodiment, the first wavelength is 1200nm, and the second wavelength is 1450 nm.

In another example of the sixth embodiment, measuring the percentmoisture variation comprises calculating an absolute value of (moistureindicator from instantaneous reflectance values subtract moistureindicator from running average reflectance values), wherein moistureindicator is calculated as ((1450 nm reflectance value actual subtractE1450) divided by (1450 nm reflectance value actual plus E1450), whereinE1450 is calculated as reflectance value at 1200 nm times 2 subtract850.

In one example of a seventh embodiment, a method for determining apercentage of voids in a furrow as a soil apparatus is drawn through thefurrow, the method comprises using the soil apparatus to obtain areflectance from the furrow; measuring a height off target between thesoil apparatus and the furrow; calculating a percentage of time that themeasured height off target is greater than a threshold value differentfrom an expected height off target between the soil apparatus and thefurrow.

In one example of an eighth embodiment, a method for correcting a soilreflectance reading from a soil apparatus drawn through a furrowincludes using the soil apparatus to obtain a reflectance from thefurrow; measuring a height off target between the soil apparatus and thefurrow; adjusting the height off target measurement to obtain a zeropercent error for the height off target measurement.

In one example of a ninth embodiment, the processing system comprises acentral processing unit (“CPU”) to execute instructions for processingagricultural data; and a communication unit to transmit and receiveagricultural data. The CPU is configured to execute instructions toobtain soil temperature from a soil apparatus having at least one sensorto sense soil temperature, to obtain air temperature, to determine atemperature offset based on the soil temperature and the airtemperature, to obtain a predicted air temperature, and to determinepredicted soil temperature for a future time period based on thetemperature offset and the predicted air temperature.

In another example of the ninth embodiment, the CPU is furtherconfigured to execute instructions to set an alarm if the predicted soiltemperature is below a minimum soil temperature for seed germination,greater than a maximum soil temperature for seed germination, ordeviates by a defined amount from an average temperature at a point intime in the future.

In another example of the ninth embodiment, the CPU is furtherconfigured to execute instructions to correct an error in measuringreflectance from a reflectance sensor when a height off target of thesoil apparatus occurs by determining a correction factor to convert araw measured reflectance into a corrected measurement.

In another example of the ninth embodiment the correction factor isdetermined based on receiving measured reflectance data that is measuredat different heights off target of the soil apparatus.

In one example of a tenth embodiment, a processing system comprises aprocessing unit to execute instructions for processing agriculturaldata; and a memory to store agricultural data, the processing unit isconfigured to execute instructions to obtain soil data from at least onesensor of an implement, and to determine, based on the soil data, seedgermination data including at least one of time to germination, time toemergence, and seed germination risk for display on a display device.

In another example of the tenth embodiment, the display device todisplay seed germination data including a seed germination map with timeto germination and time to emergence presented in hours or days, andtime is blocked together into ranges and represented by differentcolors, shapes, or patterns.

In another example of the tenth embodiment, the time to germination ispresented in hours on the display device with a first range of hoursbeing assigned a first color, a second range of hours being assigned asecond color, and a third range of hours being assigned a third color.

In another example of the tenth embodiment, the seed germination riskincludes no germination/emergence, on time germination/emergence, orlate germination/emergence.

In another example of the tenth embodiment, the seed germination riskincludes factors other than time including deformities, damaged seed,reduced vigor, or disease.

In another example of the tenth embodiment, the seed germination data iscalculated with at least one of the following measurements: soilmoisture including quantity of water in the soil, matric potential ofwater in the soil, and seed germ moisture, soil temperature, soilorganic matter, uniform furrow, furrow residue, soil type includingsand, silt, clay, and residue cover including amount, location,distribution, and pattern of old and current crop matter on the soilsurface.

In one example of an eleventh embodiment, a processing system comprisesa processing unit to execute instructions for processing agriculturaldata; and a memory to store agricultural data, the processing unit isconfigured to execute instructions to obtain properties for seedenvironment data including at least two of soil color, residue,topography, soil texture and type, organic matter, soil temperature,soil moisture, seed shape and size, seed cold germ, furrow depth,predicted temperature, predicted precipitation, predicted wind speed,and predicted cloud cover, and to determine seed environment data basedon the properties.

In another example of the eleventh embodiment, the processing unit isfurther configured to generate a seed environment indicator to indicatewhether soil conditions are ready for planting during a specified timeperiod.

In another example of the eleventh embodiment, the processing unit isfurther configured to generate an indicator to indicate whether soilconditions will remain acceptable through at least germination andemergence.

In another example of the eleventh embodiment, the processing unit isfurther configured to generate a seed environment score based on theseed environment data with a display device to display the seedenvironment score.

In another example of the eleventh embodiment, the display device todisplay the seed environment score including a first indicator toindicate acceptable planting conditions or a second indicator toindicate unacceptable planting conditions.

In another example of the eleventh embodiment, the display device todisplay seed environment score properties includes a currenttemperature, a current moisture, a predicted temperature, a predictedmoisture, and whether each of these properties are within an acceptablerange.

What is claimed is:
 1. A soil apparatus comprising: a lower base portion to firm seed in a trench that is formed in soil of an agricultural field; an upper base portion; a neck portion having first and second protrusions to insert into the lower base portion of a base and then lock when a region of the upper base portion is inserted into the lower base portion and this region of the upper base portion presses the first and second protrusions to lock the neck portion to the upper base portion; a window disposed in the lower base portion; and a sensor disposed in the lower base portion adjacent to the window, the sensor is configured to sense soil through the window when the lower base portion engages in soil of the agricultural field, wherein the lower base portion includes a resilient layer to position a circuit board in proximity to the window, wherein the sensor for detecting characteristics of soil or a trench includes at least one of soil moisture, soil organic matter, soil temperature, seed presence, seed spacing, percentage of seeds firmed, and soil residue presence, wherein the window is mounted flush with a lower surface of the ground-engaging lower portion such that soil flows underneath the window without building up over the window or along an edge of the window, wherein the lower base portion includes a separate window portion to allow the window to be separately serviceable, wherein the lower base portion includes a water drain slit that defines a feature for the separate window portion of the lower base portion to mate with the lower base portion, wherein the neck portion includes a force relief that includes a partial opening to prevent damage to the lower base portion if the soil apparatus is engaged in soil while an agricultural implement is driven in a reverse direction, wherein the lower base portion includes a lower outer portion to protect the lower base portion, wherein the lower outer portion is made from a low coefficient of friction material, wherein the lower outer portion covers at least 50% of a height of the lower base portion, wherein the lower base portion additionally includes a second portion having an upper base portion and lower internal portion.
 2. The soil apparatus of claim 1, further comprising: a wear resistant insert positioned in close proximity to the window to provide wear resistance for the window.
 3. The soil apparatus of claim 1, wherein the soil apparatus comprises a seed firmer.
 4. The soil apparatus of claim 3, wherein the upper base portion includes an internal cavity that is designed to receive a fluid application conduit and the internal cavity includes a rearward aperture through which the fluid application conduit extends for dispensing fluid behind the firmer.
 5. The soil apparatus of claim 1, wherein the upper base portion of the second portion includes a channel.
 6. The soil apparatus of claim 5, wherein the lower internal portion is disposed below upper base portion and lower internal portion has an end for connection to the neck portion.
 7. The soil apparatus of claim 1, wherein the lower base portion is at least 50% of a combined height of the lower base portion and the upper base portion, and the lower base portion is made from a material such that a coefficient of static friction between the material and soil is less than or equal to 0.3.
 8. The soil apparatus of claim 7, wherein the coefficient of static friction between the material and soil is less than or equal to 0.2, and the lower base portion is at least 90% of the combined height. 